Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 53 * 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 53 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 34 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 -18383.293 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 -18383.293

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 34 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 53 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 251110,053932,-7721.495,16437.059,181,99.0,181,144.9 TGT_NAME SOUND1

_CALLS 3 TGT_LATLONG -7728.000,16520.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -13.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251110,053932,-7721.495,16437.059,181,99.0,181,144.9 MHEAD_RNG_PITCHd_Wd 340.0,21047,-18.7,-12.000

SPEED_LIMITS 0.208,0.300 D_GRID 375

Post-dive calculations and measurements:

FREEZE 8.83,-1.904,-1.908,2,11,0 _24V_AH 21.9,19.911

FINISH1 8.8,1.027883,-19 _10V_AH 10.0,10.962

FINISH2 6.3 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7630.39,16427.50,251110,050514 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276020

HUMID 53.15 DATA_FILE_SIZE 47107,685

INTERNAL_PRESSURE 8.89683 CAP_FILE_SIZE 101465,0

TCM_TEMP 13.90 CFSIZE 260165632,250810368

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_TOP_PING 19.4,18.2 GPS 251110,053932,-7721.495,16437.059,181,99.0,181,144.9

ALTIM_BOTTOM_PING 300.7,84.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 209 57.73 SBE_CT 478 24 251.39

Roll_motor 97 82 175.55 AA4330 888 33 641.78

VBD_pump_during_apogee 412 1047 9450.02 WL_BBFL2VMT 958 105 2205.11

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 99 103 223.71 nil 0 0 0.00

Iridium_during_connect 17 160 62.12 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 13.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 50 90.77

TT8 1602 19 317.36

LPSleep 2378 2 52.08

TT8_Active 556 19 110.14

TT8_Sampling 1978 39 787.53

TT8_CF8 150 45 68.97

TT8_Kalman 0 0 0.00

Analog_circuits 1331 12 159.80

GPS_charging 0 0 0.00

Compass 1160 15 174.14

RAFOS 0 0 0.00

Transponder 8 30 2.70

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 12 begin dive

14 -0.84 -175.2 0.0 0.0 0 102 0.00 0.00 -85.45 0.000 2 0.000 0.000 426 2617 2244 0 0 0 0 0 0

104 -0.84 -175.2 3.3 -3.3 13 191 8.77 2.40 -70.90 0.000 4 0.210 0.072 2785 1187 3677 0 0 0 0 0 0

383 -0.77 -175.2 33.4 -17.4 61 390 0.15 2.33 0.00 0.000 6 0.176 0.063 2815 2586 3681 0 0 0 0 0 0

523 -0.70 -175.2 54.6 -14.5 86 531 0.00 1.95 0.00 0.000 4 0.000 0.069 2808 3757 3681 0 0 0 0 0 0

566 -0.63 -175.2 61.5 -15.7 93 574 0.17 1.85 0.00 0.000 6 0.158 0.048 2858 2593 3681 0 0 0 0 0 0

706 -0.63 -175.2 79.4 -13.9 118 713 0.00 0.00 0.00 0.000 6 0.000 0.000 2858 2593 3681 0 0 0 0 0 0

845 -0.65 -175.2 97.5 -12.8 143 852 0.00 1.95 0.00 0.000 4 0.000 0.070 2854 3773 3681 0 0 0 0 0 0

882 -0.68 -175.2 102.3 -13.5 148 886 0.00 1.85 0.00 0.000 6 0.000 0.048 2854 2596 3681 0 0 0 0 0 0

1022 -0.68 -175.2 120.3 -14.7 161 1023 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 2593 3681 0 0 0 0 0 0

1150 -0.68 -175.2 137.3 -12.8 173 1151 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2594 3681 0 0 0 0 0 0

1277 -0.68 -175.2 153.2 -12.0 185 1281 0.00 1.92 0.00 0.000 4 0.000 0.070 2845 3773 3681 0 0 0 0 0 0

1312 -0.68 -175.2 157.5 -12.8 188 1316 0.00 1.85 0.00 0.000 6 0.000 0.049 2846 2592 3681 0 0 0 0 0 0

1453 -0.68 -175.2 175.2 -12.8 201 1455 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 2589 3681 0 0 0 0 0 0

1579 -0.68 -175.2 191.7 -12.9 213 1583 0.00 1.92 0.00 0.000 4 0.000 0.072 2842 3765 3681 0 0 0 0 0 0

1615 -0.68 -175.2 197.0 -13.5 216 1624 0.00 1.85 0.00 0.000 6 0.000 0.048 2842 2605 3681 0 0 0 0 0 0

1751 -0.68 -175.2 214.6 -13.5 229 1752 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2605 3681 0 0 0 0 0 0

1878 -0.68 -175.2 232.2 -14.0 241 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2605 3681 0 0 0 0 0 0

2006 -0.68 -175.2 249.1 -13.0 253 2009 0.00 1.90 0.00 0.000 4 0.000 0.070 2833 3767 3680 0 0 0 0 0 0

2040 -0.68 -175.2 254.0 -13.9 256 2043 0.00 1.83 0.00 0.000 6 0.000 0.049 2833 2600 3681 0 0 0 0 0 0

2242 -0.68 -175.2 280.7 -13.0 275 2246 0.00 1.90 0.00 0.000 4 0.000 0.070 2823 3766 3681 0 0 0 0 0 0

2265 -0.65 -175.2 283.7 -13.4 277 2269 0.12 1.83 0.00 0.000 6 0.169 0.049 2858 2600 3681 0 0 0 0 0 0

2468 -0.68 -175.2 306.4 -10.7 296 2472 0.00 1.92 0.00 0.000 4 0.000 0.071 2854 3774 3681 0 0 0 0 0 0

2495 -0.71 -175.2 309.8 -11.2 298 2502 0.00 1.88 0.00 0.000 6 0.000 0.048 2855 2605 3681 0 0 0 0 0 0

2693 -0.73 -175.2 330.5 -10.5 317 2694 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2604 3681 0 0 0 0 0 0

2886 -0.76 -175.2 350.5 -10.9 335 2890 0.10 1.92 0.00 0.000 4 0.107 0.070 2788 3774 3680 0 0 0 0 0 0

2942 -0.67 -175.2 359.0 -15.7 340 2946 0.20 1.85 0.00 0.000 6 0.162 0.050 2846 2593 3680 0 0 0 0 0 0

3031 end dive: BOTTOM_OBSTACLE_DETECTED

state 3031 begin apogee

3035 -0.17 0.0 370.8 12.1 348 3199 0.47 0.00 154.25 1.047 6 0.129 0.000 3004 2388 2961 0 0 0 0 0 0

3200 end apogee: CONTROL_FINISHED_OK

state 3200 begin climb

3201 0.84 175.2 377.2 0.0 363 3376 1.00 2.55 163.38 0.978 4 0.082 0.056 3337 995 2244 0 0 0 0 0 0

3445 0.74 175.2 351.4 14.9 385 3450 0.12 2.47 0.00 0.000 6 0.164 0.057 3308 2407 2234 0 0 0 0 0 0

3643 0.64 175.2 322.9 14.6 403 3647 0.12 2.30 0.00 0.000 4 0.175 0.066 3276 3768 2229 0 0 0 0 0 0

3774 0.54 175.2 303.5 14.9 414 3779 0.17 2.22 0.00 0.000 6 0.166 0.048 3239 2403 2227 0 0 0 0 0 0

3972 0.61 207.6 282.0 10.5 432 4006 0.00 2.38 27.42 0.953 4 0.000 0.065 3239 3770 2115 0 0 0 0 0 0

4066 0.61 207.6 270.8 12.2 440 4074 0.00 2.30 0.00 0.000 6 0.000 0.047 3247 2399 2111 0 0 0 0 0 0

4265 0.68 237.9 249.3 10.6 459 4304 0.10 2.40 28.90 0.933 4 0.099 0.066 3299 3759 1989 0 0 0 0 0 0

4394 0.59 237.9 228.8 17.9 470 4399 0.20 2.22 0.00 0.000 6 0.157 0.049 3256 2399 1984 0 0 0 0 0 0

4529 0.65 255.5 212.4 11.2 482 4555 0.00 2.38 16.50 0.898 4 0.000 0.066 3256 3757 1917 0 0 0 0 0 0

4581 0.65 255.5 205.5 13.2 486 4591 0.00 2.28 0.00 0.000 6 0.000 0.050 3261 2400 1915 0 0 0 0 0 0

4719 0.70 265.7 190.0 11.5 499 4736 0.00 2.35 10.25 0.856 4 0.000 0.066 3261 3755 1876 0 0 0 0 0 0

4776 0.70 265.7 182.6 13.0 504 4780 0.00 2.20 0.00 0.000 6 0.000 0.048 3270 2399 1874 0 0 0 0 0 0

4911 0.74 267.9 166.0 11.9 516 4915 0.00 2.28 0.00 0.000 4 0.000 0.066 3270 3768 1871 0 0 0 0 0 0

4940 0.74 267.9 162.1 13.7 518 4945 0.00 2.22 0.00 0.000 6 0.000 0.049 3280 2387 1871 0 0 0 0 0 0

5075 0.74 267.9 144.5 12.8 530 5079 0.00 2.28 0.00 0.000 4 0.000 0.066 3280 3765 1870 0 0 0 0 0 0

5114 0.71 267.9 138.9 15.2 533 5118 0.00 2.20 0.00 0.000 6 0.000 0.049 3287 2393 1870 0 0 0 0 0 0

5250 0.71 267.9 120.5 13.4 545 5254 0.00 2.25 0.00 0.000 4 0.000 0.066 3288 3763 1869 0 0 0 0 0 0

5291 0.68 267.9 113.7 15.3 548 5300 0.00 2.20 0.00 0.000 6 0.000 0.048 3296 2404 1869 0 0 0 0 0 0

5426 0.68 267.9 94.0 14.2 564 5434 0.00 2.28 0.00 0.000 4 0.000 0.066 3296 3762 1867 0 0 0 0 0 0

5469 0.63 267.9 87.7 14.9 571 5476 0.15 2.20 0.00 0.000 6 0.162 0.050 3266 2388 1867 0 0 0 0 0 0

5609 0.68 278.1 70.2 11.5 596 5631 0.00 2.35 11.32 0.838 4 0.000 0.067 3266 3767 1826 0 0 0 0 0 0

5665 0.68 278.1 63.0 13.6 605 5672 0.00 2.20 0.00 0.000 6 0.000 0.049 3275 2402 1824 0 0 0 0 0 0

5803 0.72 278.1 45.7 13.2 630 5811 0.00 2.30 0.00 0.000 4 0.000 0.067 3274 3767 1823 0 0 0 0 0 0

5846 0.72 278.1 40.1 13.6 637 5853 0.00 2.20 0.00 0.000 6 0.000 0.047 3285 2393 1822 0 0 0 0 0 0

5984 0.74 278.1 22.2 12.1 662 5992 0.00 2.30 0.00 0.000 4 0.000 0.065 3284 3767 1821 0 0 0 0 0 0

6021 0.72 278.1 16.7 16.2 668 6029 0.00 2.22 0.00 0.000 6 0.000 0.048 3294 2402 1821 0 0 0 0 0 0

6078 end climb: FINISH_DEPTH_REACHED

state 6078 begin subsurface finish

6082 -0.02 -18.8 8.8 -13.5 678 6131 0.70 2.30 -39.10 0.000 4 0.130 0.083 3064 3757 3041 0 0 0 0 0 0

6132 end subsurface finish: CONTROL_FINISHED_OK

state 6132 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	53	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	34	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	-18383.293	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	251110,053932,-7721.495,16437.059,181,99.0,181,144.9	TGT_NAME	SOUND1
_CALLS	3	TGT_LATLONG	-7728.000,16520.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-13.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251110,053932,-7721.495,16437.059,181,99.0,181,144.9	MHEAD_RNG_PITCHd_Wd	340.0,21047,-18.7,-12.000
SPEED_LIMITS	0.208,0.300	D_GRID	375

FREEZE	8.83,-1.904,-1.908,2,11,0	_24V_AH	21.9,19.911
FINISH1	8.8,1.027883,-19	_10V_AH	10.0,10.962
FINISH2	6.3	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7630.39,16427.50,251110,050514	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276020
HUMID	53.15	DATA_FILE_SIZE	47107,685
INTERNAL_PRESSURE	8.89683	CAP_FILE_SIZE	101465,0
TCM_TEMP	13.90	CFSIZE	260165632,250810368
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.4,18.2	GPS	251110,053932,-7721.495,16437.059,181,99.0,181,144.9
ALTIM_BOTTOM_PING	300.7,84.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	209	57.73	SBE_CT	478	24	251.39
Roll_motor	97	82	175.55	AA4330	888	33	641.78
VBD_pump_during_apogee	412	1047	9450.02	WL_BBFL2VMT	958	105	2205.11
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	99	103	223.71	nil	0	0	0.00
Iridium_during_connect	17	160	62.12	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	13.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	50	90.77
TT8	1602	19	317.36
LPSleep	2378	2	52.08
TT8_Active	556	19	110.14
TT8_Sampling	1978	39	787.53
TT8_CF8	150	45	68.97
TT8_Kalman	0	0	0.00
Analog_circuits	1331	12	159.80
GPS_charging	0	0	0.00
Compass	1160	15	174.14
RAFOS	0	0	0.00
Transponder	8	30	2.70

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	12	begin dive
14	-0.84	-175.2	0.0	0.0	0	102	0.00	0.00	-85.45	0.000	2	0.000	0.000	426	2617	2244	0	0	0	0	0	0
104	-0.84	-175.2	3.3	-3.3	13	191	8.77	2.40	-70.90	0.000	4	0.210	0.072	2785	1187	3677	0	0	0	0	0	0
383	-0.77	-175.2	33.4	-17.4	61	390	0.15	2.33	0.00	0.000	6	0.176	0.063	2815	2586	3681	0	0	0	0	0	0
523	-0.70	-175.2	54.6	-14.5	86	531	0.00	1.95	0.00	0.000	4	0.000	0.069	2808	3757	3681	0	0	0	0	0	0
566	-0.63	-175.2	61.5	-15.7	93	574	0.17	1.85	0.00	0.000	6	0.158	0.048	2858	2593	3681	0	0	0	0	0	0
706	-0.63	-175.2	79.4	-13.9	118	713	0.00	0.00	0.00	0.000	6	0.000	0.000	2858	2593	3681	0	0	0	0	0	0
845	-0.65	-175.2	97.5	-12.8	143	852	0.00	1.95	0.00	0.000	4	0.000	0.070	2854	3773	3681	0	0	0	0	0	0
882	-0.68	-175.2	102.3	-13.5	148	886	0.00	1.85	0.00	0.000	6	0.000	0.048	2854	2596	3681	0	0	0	0	0	0
1022	-0.68	-175.2	120.3	-14.7	161	1023	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	2593	3681	0	0	0	0	0	0
1150	-0.68	-175.2	137.3	-12.8	173	1151	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2594	3681	0	0	0	0	0	0
1277	-0.68	-175.2	153.2	-12.0	185	1281	0.00	1.92	0.00	0.000	4	0.000	0.070	2845	3773	3681	0	0	0	0	0	0
1312	-0.68	-175.2	157.5	-12.8	188	1316	0.00	1.85	0.00	0.000	6	0.000	0.049	2846	2592	3681	0	0	0	0	0	0
1453	-0.68	-175.2	175.2	-12.8	201	1455	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	2589	3681	0	0	0	0	0	0
1579	-0.68	-175.2	191.7	-12.9	213	1583	0.00	1.92	0.00	0.000	4	0.000	0.072	2842	3765	3681	0	0	0	0	0	0
1615	-0.68	-175.2	197.0	-13.5	216	1624	0.00	1.85	0.00	0.000	6	0.000	0.048	2842	2605	3681	0	0	0	0	0	0
1751	-0.68	-175.2	214.6	-13.5	229	1752	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2605	3681	0	0	0	0	0	0
1878	-0.68	-175.2	232.2	-14.0	241	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2605	3681	0	0	0	0	0	0
2006	-0.68	-175.2	249.1	-13.0	253	2009	0.00	1.90	0.00	0.000	4	0.000	0.070	2833	3767	3680	0	0	0	0	0	0
2040	-0.68	-175.2	254.0	-13.9	256	2043	0.00	1.83	0.00	0.000	6	0.000	0.049	2833	2600	3681	0	0	0	0	0	0
2242	-0.68	-175.2	280.7	-13.0	275	2246	0.00	1.90	0.00	0.000	4	0.000	0.070	2823	3766	3681	0	0	0	0	0	0
2265	-0.65	-175.2	283.7	-13.4	277	2269	0.12	1.83	0.00	0.000	6	0.169	0.049	2858	2600	3681	0	0	0	0	0	0
2468	-0.68	-175.2	306.4	-10.7	296	2472	0.00	1.92	0.00	0.000	4	0.000	0.071	2854	3774	3681	0	0	0	0	0	0
2495	-0.71	-175.2	309.8	-11.2	298	2502	0.00	1.88	0.00	0.000	6	0.000	0.048	2855	2605	3681	0	0	0	0	0	0
2693	-0.73	-175.2	330.5	-10.5	317	2694	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2604	3681	0	0	0	0	0	0
2886	-0.76	-175.2	350.5	-10.9	335	2890	0.10	1.92	0.00	0.000	4	0.107	0.070	2788	3774	3680	0	0	0	0	0	0
2942	-0.67	-175.2	359.0	-15.7	340	2946	0.20	1.85	0.00	0.000	6	0.162	0.050	2846	2593	3680	0	0	0	0	0	0
3031	end dive: BOTTOM_OBSTACLE_DETECTED
state	3031	begin apogee
3035	-0.17	0.0	370.8	12.1	348	3199	0.47	0.00	154.25	1.047	6	0.129	0.000	3004	2388	2961	0	0	0	0	0	0
3200	end apogee: CONTROL_FINISHED_OK
state	3200	begin climb
3201	0.84	175.2	377.2	0.0	363	3376	1.00	2.55	163.38	0.978	4	0.082	0.056	3337	995	2244	0	0	0	0	0	0
3445	0.74	175.2	351.4	14.9	385	3450	0.12	2.47	0.00	0.000	6	0.164	0.057	3308	2407	2234	0	0	0	0	0	0
3643	0.64	175.2	322.9	14.6	403	3647	0.12	2.30	0.00	0.000	4	0.175	0.066	3276	3768	2229	0	0	0	0	0	0
3774	0.54	175.2	303.5	14.9	414	3779	0.17	2.22	0.00	0.000	6	0.166	0.048	3239	2403	2227	0	0	0	0	0	0
3972	0.61	207.6	282.0	10.5	432	4006	0.00	2.38	27.42	0.953	4	0.000	0.065	3239	3770	2115	0	0	0	0	0	0
4066	0.61	207.6	270.8	12.2	440	4074	0.00	2.30	0.00	0.000	6	0.000	0.047	3247	2399	2111	0	0	0	0	0	0
4265	0.68	237.9	249.3	10.6	459	4304	0.10	2.40	28.90	0.933	4	0.099	0.066	3299	3759	1989	0	0	0	0	0	0
4394	0.59	237.9	228.8	17.9	470	4399	0.20	2.22	0.00	0.000	6	0.157	0.049	3256	2399	1984	0	0	0	0	0	0
4529	0.65	255.5	212.4	11.2	482	4555	0.00	2.38	16.50	0.898	4	0.000	0.066	3256	3757	1917	0	0	0	0	0	0
4581	0.65	255.5	205.5	13.2	486	4591	0.00	2.28	0.00	0.000	6	0.000	0.050	3261	2400	1915	0	0	0	0	0	0
4719	0.70	265.7	190.0	11.5	499	4736	0.00	2.35	10.25	0.856	4	0.000	0.066	3261	3755	1876	0	0	0	0	0	0
4776	0.70	265.7	182.6	13.0	504	4780	0.00	2.20	0.00	0.000	6	0.000	0.048	3270	2399	1874	0	0	0	0	0	0
4911	0.74	267.9	166.0	11.9	516	4915	0.00	2.28	0.00	0.000	4	0.000	0.066	3270	3768	1871	0	0	0	0	0	0
4940	0.74	267.9	162.1	13.7	518	4945	0.00	2.22	0.00	0.000	6	0.000	0.049	3280	2387	1871	0	0	0	0	0	0
5075	0.74	267.9	144.5	12.8	530	5079	0.00	2.28	0.00	0.000	4	0.000	0.066	3280	3765	1870	0	0	0	0	0	0
5114	0.71	267.9	138.9	15.2	533	5118	0.00	2.20	0.00	0.000	6	0.000	0.049	3287	2393	1870	0	0	0	0	0	0
5250	0.71	267.9	120.5	13.4	545	5254	0.00	2.25	0.00	0.000	4	0.000	0.066	3288	3763	1869	0	0	0	0	0	0
5291	0.68	267.9	113.7	15.3	548	5300	0.00	2.20	0.00	0.000	6	0.000	0.048	3296	2404	1869	0	0	0	0	0	0
5426	0.68	267.9	94.0	14.2	564	5434	0.00	2.28	0.00	0.000	4	0.000	0.066	3296	3762	1867	0	0	0	0	0	0
5469	0.63	267.9	87.7	14.9	571	5476	0.15	2.20	0.00	0.000	6	0.162	0.050	3266	2388	1867	0	0	0	0	0	0
5609	0.68	278.1	70.2	11.5	596	5631	0.00	2.35	11.32	0.838	4	0.000	0.067	3266	3767	1826	0	0	0	0	0	0
5665	0.68	278.1	63.0	13.6	605	5672	0.00	2.20	0.00	0.000	6	0.000	0.049	3275	2402	1824	0	0	0	0	0	0
5803	0.72	278.1	45.7	13.2	630	5811	0.00	2.30	0.00	0.000	4	0.000	0.067	3274	3767	1823	0	0	0	0	0	0
5846	0.72	278.1	40.1	13.6	637	5853	0.00	2.20	0.00	0.000	6	0.000	0.047	3285	2393	1822	0	0	0	0	0	0
5984	0.74	278.1	22.2	12.1	662	5992	0.00	2.30	0.00	0.000	4	0.000	0.065	3284	3767	1821	0	0	0	0	0	0
6021	0.72	278.1	16.7	16.2	668	6029	0.00	2.22	0.00	0.000	6	0.000	0.048	3294	2402	1821	0	0	0	0	0	0
6078	end climb: FINISH_DEPTH_REACHED
state	6078	begin subsurface finish
6082	-0.02	-18.8	8.8	-13.5	678	6131	0.70	2.30	-39.10	0.000	4	0.130	0.083	3064	3757	3041	0	0	0	0	0	0
6132	end subsurface finish: CONTROL_FINISHED_OK
state	6132	begin surface