Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 54 * 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 54 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 25 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 -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 25 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 54 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 6.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 4.8 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 0.94,-1.861,-1.902,2,12,2 ALTIM_BOTTOM_PING 351.2,68.4

FINISH 0.9,1.027879 _24V_AH 21.9,20.074

SM_CCo 6036,176.43,0.752,3,0,420,623.30 _10V_AH 10.1,11.044

SM_GC 1.42,0.00,0.00,176.43,0.000,0.000,0.752,426,2613,420,-8.25,0.37,623.30 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7630.39,16427.50,251110,050514 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276092

HUMID 51.22 DATA_FILE_SIZE 43758,666

INTERNAL_PRESSURE 8.65268 CAP_FILE_SIZE 101696,0

TCM_TEMP 13.90 CFSIZE 260165632,250757120

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

ALTIM_TOP_PING 19.8,18.5 GPS 251110,231737,-7723.535,16459.996,24,1.7,24,144.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 173 44.59 SBE_CT 467 24 245.52

Roll_motor 107 71 167.88 AA4330 853 33 616.97

VBD_pump_during_apogee 457 1044 10462.92 WL_BBFL2VMT 928 105 2134.79

VBD_pump_during_surface 176 751 2905.49 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 1 420 16.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1627 19 325.46

LPSleep 2218 2 49.08

TT8_Active 679 19 135.79

TT8_Sampling 1667 39 670.40

TT8_CF8 86 45 40.01

TT8_Kalman 0 0 0.00

Analog_circuits 1419 12 172.04

GPS_charging 0 0 0.00

Compass 1160 15 175.84

RAFOS 0 0 0.00

Transponder 10 30 3.23

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 25 0.00 0.00 -9.05 0.000 2 0.000 0.000 3064 3757 3364 0 0 0 0 0 0

27 -0.84 -175.2 7.7 -0.0 1 48 0.77 4.22 -8.48 0.000 4 0.112 0.059 2800 1177 3681 0 0 0 0 0 0

103 -0.80 -175.2 15.2 -13.2 14 111 0.00 2.38 0.00 0.000 6 0.000 0.064 2794 2594 3684 0 0 0 0 0 0

244 -0.69 -175.2 38.0 -17.7 39 251 0.17 1.90 0.00 0.000 4 0.173 0.069 2835 3766 3684 0 0 0 0 0 0

295 -0.69 -175.2 45.9 -13.3 48 303 0.00 1.90 0.00 0.000 6 0.000 0.049 2836 2586 3684 0 0 0 0 0 0

435 -0.69 -175.2 64.0 -12.6 73 441 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 2586 3684 0 0 0 0 0 0

572 -0.69 -175.2 82.3 -13.0 98 580 0.00 1.98 0.00 0.000 4 0.000 0.071 2827 3763 3684 0 0 0 0 0 0

619 -0.69 -175.2 89.0 -13.9 106 626 0.00 1.88 0.00 0.000 6 0.000 0.048 2827 2596 3684 0 0 0 0 0 0

763 -0.65 -175.2 107.2 -12.8 127 764 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2596 3684 0 0 0 0 0 0

890 -0.62 -175.2 123.7 -12.9 139 894 0.12 1.90 0.00 0.000 4 0.174 0.069 2853 3765 3684 0 0 0 0 0 0

916 -0.62 -175.2 127.5 -12.6 141 925 0.00 1.85 0.00 0.000 6 0.000 0.045 2853 2603 3684 0 0 0 0 0 0

1051 -0.62 -175.2 143.1 -12.3 154 1052 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 2603 3684 0 0 0 0 0 0

1179 -0.64 -175.2 157.5 -11.4 166 1183 0.00 1.90 0.00 0.000 4 0.000 0.069 2844 3770 3684 0 0 0 0 0 0

1216 -0.66 -175.2 162.3 -12.7 169 1225 0.00 1.90 0.00 0.000 6 0.000 0.049 2844 2587 3684 0 0 0 0 0 0

1351 -0.66 -175.2 178.2 -12.0 182 1352 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2587 3684 0 0 0 0 0 0

1479 -0.66 -175.2 193.4 -11.9 194 1483 0.00 1.92 0.00 0.000 4 0.000 0.071 2835 3766 3684 0 0 0 0 0 0

1527 -0.66 -175.2 199.8 -11.8 198 1536 0.00 1.85 0.00 0.000 6 0.000 0.048 2835 2605 3684 0 0 0 0 0 0

1662 -0.66 -175.2 216.7 -13.3 211 1666 0.00 1.90 0.00 0.000 4 0.000 0.070 2826 3770 3684 0 0 0 0 0 0

1696 -0.66 -175.2 221.5 -14.7 214 1700 0.00 1.83 0.00 0.000 6 0.000 0.049 2826 2599 3684 0 0 0 0 0 0

1837 -0.63 -175.2 240.8 -13.5 227 1841 0.12 1.92 0.00 0.000 4 0.172 0.070 2853 3766 3684 0 0 0 0 0 0

1861 -0.63 -175.2 244.4 -13.0 229 1871 0.00 1.88 0.00 0.000 6 0.000 0.047 2853 2592 3684 0 0 0 0 0 0

1998 -0.66 -175.2 259.4 -11.2 242 2002 0.00 1.92 0.00 0.000 4 0.000 0.070 2844 3773 3684 0 0 0 0 0 0

2021 -0.66 -175.2 262.3 -11.7 244 2024 0.00 1.85 0.00 0.000 6 0.000 0.048 2844 2589 3684 0 0 0 0 0 0

2224 -0.66 -175.2 285.5 -11.4 263 2227 0.00 1.92 0.00 0.000 4 0.000 0.071 2842 3764 3684 0 0 0 0 0 0

2250 -0.66 -175.2 288.9 -12.0 265 2258 0.00 1.85 0.00 0.000 6 0.000 0.047 2842 2604 3684 0 0 0 0 0 0

2448 -0.66 -175.2 312.1 -12.2 284 2451 0.00 1.90 0.00 0.000 4 0.000 0.070 2833 3769 3684 0 0 0 0 0 0

2498 -0.66 -175.2 318.5 -12.1 288 2505 0.00 1.85 0.00 0.000 6 0.000 0.049 2833 2593 3684 0 0 0 0 0 0

2695 -0.66 -175.2 342.8 -12.6 307 2698 0.00 1.92 0.00 0.000 4 0.000 0.070 2823 3774 3684 0 0 0 0 0 0

2721 -0.66 -175.2 346.6 -13.1 309 2729 0.00 1.88 0.00 0.000 6 0.000 0.048 2824 2599 3684 0 0 0 0 0 0

2920 -0.64 -175.2 371.9 -12.7 328 2924 0.12 1.92 0.00 0.000 4 0.172 0.070 2851 3768 3684 0 0 0 0 0 0

2944 end dive: TARGET_DEPTH_EXCEEDED

state 2944 begin apogee

2950 -0.17 0.0 375.3 11.7 330 3111 0.47 0.00 154.75 1.044 6 0.122 0.000 3008 2391 2960 0 0 0 0 0 0

3112 end apogee: CONTROL_FINISHED_OK

state 3112 begin climb

3113 0.84 175.2 380.9 0.0 345 3285 0.98 2.55 163.48 0.968 4 0.080 0.055 3328 991 2244 0 0 0 0 0 0

3374 0.75 175.2 352.9 14.3 369 3382 0.00 2.50 0.00 0.000 6 0.000 0.057 3328 2397 2233 0 0 0 0 0 0

3572 0.61 175.2 322.2 15.4 388 3577 0.22 2.30 0.00 0.000 4 0.158 0.063 3268 3764 2229 0 0 0 0 0 0

3680 0.53 175.2 307.1 13.4 397 3684 0.15 2.22 0.00 0.000 6 0.171 0.047 3238 2394 2229 0 0 0 0 0 0

3877 0.62 226.7 287.7 9.6 415 3933 0.00 2.45 46.10 0.953 4 0.000 0.065 3238 3761 2034 0 0 0 0 0 0

4025 0.68 254.8 272.9 10.7 428 4059 0.10 2.25 26.35 0.916 6 0.096 0.047 3297 2392 1921 0 0 0 0 0 0

4250 0.63 254.8 241.7 14.3 449 4254 0.00 2.33 0.00 0.000 4 0.000 0.065 3297 3774 1912 0 0 0 0 0 0

4354 0.56 254.8 224.7 16.3 458 4359 0.22 2.22 0.00 0.000 6 0.153 0.049 3244 2402 1911 0 0 0 0 0 0

4491 0.68 300.0 210.2 9.9 470 4542 0.12 2.42 40.00 0.908 4 0.085 0.066 3305 3761 1736 0 0 0 0 0 0

4599 0.62 300.0 193.4 18.1 479 4603 0.17 2.25 0.00 0.000 6 0.155 0.049 3269 2399 1731 0 0 0 0 0 0

4735 0.67 300.0 175.9 12.1 491 4739 0.00 2.30 0.00 0.000 4 0.000 0.067 3269 3771 1727 0 0 0 0 0 0

4774 0.69 300.0 170.6 13.0 494 4778 0.00 2.22 0.00 0.000 6 0.000 0.049 3277 2400 1727 0 0 0 0 0 0

4909 0.72 300.0 153.8 12.2 506 4913 0.00 2.28 0.00 0.000 4 0.000 0.067 3277 3771 1724 0 0 0 0 0 0

4948 0.72 300.0 148.5 14.5 509 4952 0.00 2.20 0.00 0.000 6 0.000 0.050 3287 2401 1724 0 0 0 0 0 0

5084 0.72 300.0 130.8 13.2 521 5088 0.00 2.25 0.00 0.000 4 0.000 0.067 3287 3764 1723 0 0 0 0 0 0

5123 0.72 300.0 125.2 14.3 524 5127 0.00 2.17 0.00 0.000 6 0.000 0.049 3297 2400 1723 0 0 0 0 0 0

5257 0.72 300.0 106.1 14.2 536 5261 0.00 2.25 0.00 0.000 4 0.000 0.065 3297 3773 1722 0 0 0 0 0 0

5289 0.69 300.0 101.0 15.8 538 5298 0.00 2.22 0.00 0.000 6 0.000 0.048 3307 2405 1723 0 0 0 0 0 0

5425 0.66 300.0 79.6 16.6 562 5433 0.00 2.28 0.00 0.000 4 0.000 0.067 3307 3763 1722 0 0 0 0 0 0

5472 0.60 300.0 71.3 17.8 570 5480 0.17 2.22 0.00 0.000 6 0.138 0.049 3260 2393 1722 0 0 0 0 0 0

5614 0.72 331.9 55.7 10.5 595 5648 0.10 2.35 26.85 0.839 4 0.100 0.065 3312 3770 1608 0 0 0 0 0 0

5692 0.67 331.9 43.4 16.6 608 5701 0.12 2.28 0.00 0.000 6 0.134 0.049 3283 2402 1605 0 0 0 0 0 0

5834 0.72 331.9 24.7 12.6 633 5841 0.00 2.28 0.00 0.000 4 0.000 0.066 3283 3764 1602 0 0 0 0 0 0

5875 0.75 331.9 18.9 14.0 640 5883 0.00 2.25 0.00 0.000 6 0.000 0.049 3287 2397 1602 0 0 0 0 0 0

5998 end climb: SURFACE_DEPTH_REACHED

state 5998 begin surface coast

6022 end surface coast: CONTROL_FINISHED_OK

state 6022 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	54	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	25	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	-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	6.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	4.8	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	0.94,-1.861,-1.902,2,12,2	ALTIM_BOTTOM_PING	351.2,68.4
FINISH	0.9,1.027879	_24V_AH	21.9,20.074
SM_CCo	6036,176.43,0.752,3,0,420,623.30	_10V_AH	10.1,11.044
SM_GC	1.42,0.00,0.00,176.43,0.000,0.000,0.752,426,2613,420,-8.25,0.37,623.30	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7630.39,16427.50,251110,050514	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276092
HUMID	51.22	DATA_FILE_SIZE	43758,666
INTERNAL_PRESSURE	8.65268	CAP_FILE_SIZE	101696,0
TCM_TEMP	13.90	CFSIZE	260165632,250757120
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
ALTIM_TOP_PING	19.8,18.5	GPS	251110,231737,-7723.535,16459.996,24,1.7,24,144.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	173	44.59	SBE_CT	467	24	245.52
Roll_motor	107	71	167.88	AA4330	853	33	616.97
VBD_pump_during_apogee	457	1044	10462.92	WL_BBFL2VMT	928	105	2134.79
VBD_pump_during_surface	176	751	2905.49	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	1	420	16.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1627	19	325.46
LPSleep	2218	2	49.08
TT8_Active	679	19	135.79
TT8_Sampling	1667	39	670.40
TT8_CF8	86	45	40.01
TT8_Kalman	0	0	0.00
Analog_circuits	1419	12	172.04
GPS_charging	0	0	0.00
Compass	1160	15	175.84
RAFOS	0	0	0.00
Transponder	10	30	3.23

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	25	0.00	0.00	-9.05	0.000	2	0.000	0.000	3064	3757	3364	0	0	0	0	0	0
27	-0.84	-175.2	7.7	-0.0	1	48	0.77	4.22	-8.48	0.000	4	0.112	0.059	2800	1177	3681	0	0	0	0	0	0
103	-0.80	-175.2	15.2	-13.2	14	111	0.00	2.38	0.00	0.000	6	0.000	0.064	2794	2594	3684	0	0	0	0	0	0
244	-0.69	-175.2	38.0	-17.7	39	251	0.17	1.90	0.00	0.000	4	0.173	0.069	2835	3766	3684	0	0	0	0	0	0
295	-0.69	-175.2	45.9	-13.3	48	303	0.00	1.90	0.00	0.000	6	0.000	0.049	2836	2586	3684	0	0	0	0	0	0
435	-0.69	-175.2	64.0	-12.6	73	441	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	2586	3684	0	0	0	0	0	0
572	-0.69	-175.2	82.3	-13.0	98	580	0.00	1.98	0.00	0.000	4	0.000	0.071	2827	3763	3684	0	0	0	0	0	0
619	-0.69	-175.2	89.0	-13.9	106	626	0.00	1.88	0.00	0.000	6	0.000	0.048	2827	2596	3684	0	0	0	0	0	0
763	-0.65	-175.2	107.2	-12.8	127	764	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2596	3684	0	0	0	0	0	0
890	-0.62	-175.2	123.7	-12.9	139	894	0.12	1.90	0.00	0.000	4	0.174	0.069	2853	3765	3684	0	0	0	0	0	0
916	-0.62	-175.2	127.5	-12.6	141	925	0.00	1.85	0.00	0.000	6	0.000	0.045	2853	2603	3684	0	0	0	0	0	0
1051	-0.62	-175.2	143.1	-12.3	154	1052	0.00	0.00	0.00	0.000	6	0.000	0.000	2853	2603	3684	0	0	0	0	0	0
1179	-0.64	-175.2	157.5	-11.4	166	1183	0.00	1.90	0.00	0.000	4	0.000	0.069	2844	3770	3684	0	0	0	0	0	0
1216	-0.66	-175.2	162.3	-12.7	169	1225	0.00	1.90	0.00	0.000	6	0.000	0.049	2844	2587	3684	0	0	0	0	0	0
1351	-0.66	-175.2	178.2	-12.0	182	1352	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2587	3684	0	0	0	0	0	0
1479	-0.66	-175.2	193.4	-11.9	194	1483	0.00	1.92	0.00	0.000	4	0.000	0.071	2835	3766	3684	0	0	0	0	0	0
1527	-0.66	-175.2	199.8	-11.8	198	1536	0.00	1.85	0.00	0.000	6	0.000	0.048	2835	2605	3684	0	0	0	0	0	0
1662	-0.66	-175.2	216.7	-13.3	211	1666	0.00	1.90	0.00	0.000	4	0.000	0.070	2826	3770	3684	0	0	0	0	0	0
1696	-0.66	-175.2	221.5	-14.7	214	1700	0.00	1.83	0.00	0.000	6	0.000	0.049	2826	2599	3684	0	0	0	0	0	0
1837	-0.63	-175.2	240.8	-13.5	227	1841	0.12	1.92	0.00	0.000	4	0.172	0.070	2853	3766	3684	0	0	0	0	0	0
1861	-0.63	-175.2	244.4	-13.0	229	1871	0.00	1.88	0.00	0.000	6	0.000	0.047	2853	2592	3684	0	0	0	0	0	0
1998	-0.66	-175.2	259.4	-11.2	242	2002	0.00	1.92	0.00	0.000	4	0.000	0.070	2844	3773	3684	0	0	0	0	0	0
2021	-0.66	-175.2	262.3	-11.7	244	2024	0.00	1.85	0.00	0.000	6	0.000	0.048	2844	2589	3684	0	0	0	0	0	0
2224	-0.66	-175.2	285.5	-11.4	263	2227	0.00	1.92	0.00	0.000	4	0.000	0.071	2842	3764	3684	0	0	0	0	0	0
2250	-0.66	-175.2	288.9	-12.0	265	2258	0.00	1.85	0.00	0.000	6	0.000	0.047	2842	2604	3684	0	0	0	0	0	0
2448	-0.66	-175.2	312.1	-12.2	284	2451	0.00	1.90	0.00	0.000	4	0.000	0.070	2833	3769	3684	0	0	0	0	0	0
2498	-0.66	-175.2	318.5	-12.1	288	2505	0.00	1.85	0.00	0.000	6	0.000	0.049	2833	2593	3684	0	0	0	0	0	0
2695	-0.66	-175.2	342.8	-12.6	307	2698	0.00	1.92	0.00	0.000	4	0.000	0.070	2823	3774	3684	0	0	0	0	0	0
2721	-0.66	-175.2	346.6	-13.1	309	2729	0.00	1.88	0.00	0.000	6	0.000	0.048	2824	2599	3684	0	0	0	0	0	0
2920	-0.64	-175.2	371.9	-12.7	328	2924	0.12	1.92	0.00	0.000	4	0.172	0.070	2851	3768	3684	0	0	0	0	0	0
2944	end dive: TARGET_DEPTH_EXCEEDED
state	2944	begin apogee
2950	-0.17	0.0	375.3	11.7	330	3111	0.47	0.00	154.75	1.044	6	0.122	0.000	3008	2391	2960	0	0	0	0	0	0
3112	end apogee: CONTROL_FINISHED_OK
state	3112	begin climb
3113	0.84	175.2	380.9	0.0	345	3285	0.98	2.55	163.48	0.968	4	0.080	0.055	3328	991	2244	0	0	0	0	0	0
3374	0.75	175.2	352.9	14.3	369	3382	0.00	2.50	0.00	0.000	6	0.000	0.057	3328	2397	2233	0	0	0	0	0	0
3572	0.61	175.2	322.2	15.4	388	3577	0.22	2.30	0.00	0.000	4	0.158	0.063	3268	3764	2229	0	0	0	0	0	0
3680	0.53	175.2	307.1	13.4	397	3684	0.15	2.22	0.00	0.000	6	0.171	0.047	3238	2394	2229	0	0	0	0	0	0
3877	0.62	226.7	287.7	9.6	415	3933	0.00	2.45	46.10	0.953	4	0.000	0.065	3238	3761	2034	0	0	0	0	0	0
4025	0.68	254.8	272.9	10.7	428	4059	0.10	2.25	26.35	0.916	6	0.096	0.047	3297	2392	1921	0	0	0	0	0	0
4250	0.63	254.8	241.7	14.3	449	4254	0.00	2.33	0.00	0.000	4	0.000	0.065	3297	3774	1912	0	0	0	0	0	0
4354	0.56	254.8	224.7	16.3	458	4359	0.22	2.22	0.00	0.000	6	0.153	0.049	3244	2402	1911	0	0	0	0	0	0
4491	0.68	300.0	210.2	9.9	470	4542	0.12	2.42	40.00	0.908	4	0.085	0.066	3305	3761	1736	0	0	0	0	0	0
4599	0.62	300.0	193.4	18.1	479	4603	0.17	2.25	0.00	0.000	6	0.155	0.049	3269	2399	1731	0	0	0	0	0	0
4735	0.67	300.0	175.9	12.1	491	4739	0.00	2.30	0.00	0.000	4	0.000	0.067	3269	3771	1727	0	0	0	0	0	0
4774	0.69	300.0	170.6	13.0	494	4778	0.00	2.22	0.00	0.000	6	0.000	0.049	3277	2400	1727	0	0	0	0	0	0
4909	0.72	300.0	153.8	12.2	506	4913	0.00	2.28	0.00	0.000	4	0.000	0.067	3277	3771	1724	0	0	0	0	0	0
4948	0.72	300.0	148.5	14.5	509	4952	0.00	2.20	0.00	0.000	6	0.000	0.050	3287	2401	1724	0	0	0	0	0	0
5084	0.72	300.0	130.8	13.2	521	5088	0.00	2.25	0.00	0.000	4	0.000	0.067	3287	3764	1723	0	0	0	0	0	0
5123	0.72	300.0	125.2	14.3	524	5127	0.00	2.17	0.00	0.000	6	0.000	0.049	3297	2400	1723	0	0	0	0	0	0
5257	0.72	300.0	106.1	14.2	536	5261	0.00	2.25	0.00	0.000	4	0.000	0.065	3297	3773	1722	0	0	0	0	0	0
5289	0.69	300.0	101.0	15.8	538	5298	0.00	2.22	0.00	0.000	6	0.000	0.048	3307	2405	1723	0	0	0	0	0	0
5425	0.66	300.0	79.6	16.6	562	5433	0.00	2.28	0.00	0.000	4	0.000	0.067	3307	3763	1722	0	0	0	0	0	0
5472	0.60	300.0	71.3	17.8	570	5480	0.17	2.22	0.00	0.000	6	0.138	0.049	3260	2393	1722	0	0	0	0	0	0
5614	0.72	331.9	55.7	10.5	595	5648	0.10	2.35	26.85	0.839	4	0.100	0.065	3312	3770	1608	0	0	0	0	0	0
5692	0.67	331.9	43.4	16.6	608	5701	0.12	2.28	0.00	0.000	6	0.134	0.049	3283	2402	1605	0	0	0	0	0	0
5834	0.72	331.9	24.7	12.6	633	5841	0.00	2.28	0.00	0.000	4	0.000	0.066	3283	3764	1602	0	0	0	0	0	0
5875	0.75	331.9	18.9	14.0	640	5883	0.00	2.25	0.00	0.000	6	0.000	0.049	3287	2397	1602	0	0	0	0	0	0
5998	end climb: SURFACE_DEPTH_REACHED
state	5998	begin surface coast
6022	end surface coast: CONTROL_FINISHED_OK
state	6022	begin surface