Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 59 * 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 59 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2650 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2500 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 23 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 -19483.344 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 -19483.344

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 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -1

C_VBD 2961 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 180 R_PORT_OVSHOOT 31 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 23 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 59 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 261110,062908,-7726.157,16510.441,181,99.0,181,144.2 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 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -16.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261110,062908,-7726.157,16510.441,181,99.0,181,144.2 MHEAD_RNG_PITCHd_Wd 195.2,6247,-18.7,-12.000

SPEED_LIMITS 0.208,0.300 D_GRID 544

Post-dive calculations and measurements:

FREEZE 0.97,-1.833,-1.902,2,2,2 _24V_AH 21.8,21.030

FINISH 1.0,1.027886 _10V_AH 10.0,11.548

SM_CCo 7364,162.65,0.767,1,0,419,623.30 FG_AHR_24Vo 0.000

SM_GC 1.27,0.00,0.00,162.65,0.000,0.000,0.767,419,2659,419,-8.27,0.25,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7639.69,16500.29,261110,060609 MEM 275884

TT8_MAMPS 0.028462 DATA_FILE_SIZE 53870,792

HUMID 51.65 CAP_FILE_SIZE 116330,0

INTERNAL_PRESSURE 8.66244 CFSIZE 260165632,250408960

TCM_TEMP 13.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 GPS 261110,062908,-7726.157,16510.441,181,99.0,181,144.2

ALTIM_TOP_PING 19.2,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 227 102.03 SBE_CT 554 24 290.18

Roll_motor 84 81 150.52 AA4330 955 33 687.31

VBD_pump_during_apogee 484 1103 11658.58 WL_BBFL2VMT 939 105 2150.32

VBD_pump_during_surface 162 767 2720.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 99 103 222.76 nil 0 0 0.00

Iridium_during_connect 17 160 61.86 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 18.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 50 90.81

TT8 1877 19 371.75

LPSleep 3144 2 68.87

TT8_Active 743 19 147.17

TT8_Sampling 2137 39 850.87

TT8_CF8 173 45 79.25

TT8_Kalman 0 0 0.00

Analog_circuits 1585 12 190.25

GPS_charging 0 0 0.00

Compass 1321 15 198.25

RAFOS 0 0 0.00

Transponder 11 30 3.36

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.84 -175.2 0.0 0.0 0 173 0.00 0.00 -155.32 0.000 2 0.000 0.000 425 2656 3455 0 0 0 0 0 0

176 -0.84 -175.2 3.6 -4.1 24 198 9.18 1.83 -5.65 0.000 4 0.227 0.082 2781 3767 3679 0 0 0 0 0 0

427 -0.70 -175.2 53.8 -18.1 69 434 0.20 1.77 0.00 0.000 6 0.166 0.047 2837 2647 3682 0 0 0 0 0 0

567 -0.66 -175.2 73.4 -14.1 94 575 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2645 3682 0 0 0 0 0 0

707 -0.63 -175.2 92.8 -13.5 119 713 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2645 3683 0 0 0 0 0 0

850 -0.59 -175.2 112.3 -13.7 137 851 0.12 0.00 0.00 0.000 6 0.166 0.000 2874 2645 3682 0 0 0 0 0 0

977 -0.63 -175.2 126.2 -10.7 149 980 0.00 1.83 0.00 0.000 4 0.000 0.068 2867 3763 3683 0 0 0 0 0 0

1001 -0.67 -175.2 128.9 -10.8 151 1005 0.00 1.75 0.00 0.000 6 0.000 0.045 2867 2637 3682 0 0 0 0 0 0

1142 -0.69 -175.2 144.4 -11.3 164 1143 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 2636 3682 0 0 0 0 0 0

1269 -0.73 -175.2 158.7 -11.2 176 1273 0.10 1.85 0.00 0.000 4 0.109 0.068 2805 3761 3682 0 0 0 0 0 0

1314 -0.64 -175.2 165.5 -16.3 180 1318 0.17 1.75 0.00 0.000 6 0.164 0.047 2854 2642 3682 0 0 0 0 0 0

1453 -0.64 -175.2 183.5 -12.3 193 1454 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 2640 3682 0 0 0 0 0 0

1581 -0.64 -175.2 199.3 -12.4 205 1582 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 2640 3682 0 0 0 0 0 0

1709 -0.64 -175.2 214.5 -11.7 217 1712 0.00 1.83 0.00 0.000 4 0.000 0.070 2850 3761 3683 0 0 0 0 0 0

1743 -0.64 -175.2 218.7 -12.4 220 1747 0.00 1.75 0.00 0.000 6 0.000 0.047 2850 2640 3682 0 0 0 0 0 0

1885 -0.64 -175.2 235.6 -12.0 233 1893 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 2638 3682 0 0 0 0 0 0

2019 -0.64 -175.2 251.9 -11.9 246 2022 0.00 1.85 0.00 0.000 4 0.000 0.070 2842 3771 3682 0 0 0 0 0 0

2041 -0.64 -175.2 254.7 -12.4 248 2045 0.00 1.75 0.00 0.000 6 0.000 0.048 2842 2651 3682 0 0 0 0 0 0

2243 -0.64 -175.2 280.0 -12.6 267 2245 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2649 3682 0 0 0 0 0 0

2436 -0.64 -175.2 303.5 -12.2 285 2440 0.00 1.83 0.00 0.000 4 0.000 0.070 2833 3767 3682 0 0 0 0 0 0

2462 -0.62 -175.2 307.3 -13.1 287 2471 0.08 1.80 0.00 0.000 6 0.149 0.048 2858 2642 3682 0 0 0 0 0 0

2662 -0.65 -175.2 328.8 -10.7 306 2663 0.00 0.00 0.00 0.000 6 0.000 0.000 2859 2641 3682 0 0 0 0 0 0

2852 -0.67 -175.2 348.9 -10.6 324 2856 0.00 1.83 0.00 0.000 4 0.000 0.070 2854 3761 3682 0 0 0 0 0 0

2897 -0.71 -175.2 353.9 -11.5 328 2901 0.00 1.73 0.00 0.000 6 0.000 0.047 2854 2652 3682 0 0 0 0 0 0

3100 -0.71 -175.2 376.0 -11.0 347 3101 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2650 3682 0 0 0 0 0 0

3292 -0.73 -175.2 396.6 -10.8 365 3296 0.00 1.85 0.00 0.000 4 0.000 0.071 2846 3757 3682 0 0 0 0 0 0

3338 -0.76 -175.2 401.7 -11.3 369 3341 0.00 1.73 0.00 0.000 6 0.000 0.048 2846 2651 3682 0 0 0 0 0 0

3540 -0.76 -175.2 424.4 -11.2 388 3541 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 2649 3681 0 0 0 0 0 0

3733 -0.76 -175.2 445.8 -11.5 406 3737 0.00 1.83 0.00 0.000 4 0.000 0.071 2841 3767 3681 0 0 0 0 0 0

3771 end dive: TARGET_DEPTH_EXCEEDED

state 3771 begin apogee

3776 -0.17 0.0 450.7 11.9 409 3937 0.50 0.00 156.62 1.103 6 0.129 0.000 3005 2495 2961 0 0 0 0 0 0

3938 end apogee: CONTROL_FINISHED_OK

state 3938 begin climb

3940 0.84 175.2 456.1 0.0 424 4116 1.00 2.55 165.57 1.023 4 0.083 0.055 3328 1096 2243 0 0 0 0 0 0

4177 0.75 175.2 430.1 14.5 445 4184 0.00 2.47 0.00 0.000 6 0.000 0.057 3328 2497 2234 0 0 0 0 0 0

4375 0.60 175.2 397.8 16.7 464 4379 0.25 2.15 0.00 0.000 4 0.161 0.063 3256 3768 2229 0 0 0 0 0 0

4474 0.53 175.2 383.7 13.8 472 4482 0.00 2.10 0.00 0.000 6 0.000 0.048 3265 2504 2227 0 0 0 0 0 0

4673 0.50 181.3 360.3 11.7 491 4677 0.12 2.12 0.00 0.000 4 0.172 0.067 3232 3768 2225 0 0 0 0 0 0

4738 0.53 203.3 352.7 11.0 496 4768 0.00 2.10 23.60 0.991 6 0.000 0.047 3241 2488 2132 0 0 0 0 0 0

4960 0.61 240.4 330.4 10.3 517 5005 0.00 2.28 35.47 0.990 4 0.000 0.067 3241 3761 1978 0 0 0 0 0 0

5051 0.66 261.9 320.5 11.0 525 5077 0.00 2.10 20.83 0.954 6 0.000 0.048 3247 2493 1893 0 0 0 0 0 0

5275 0.76 292.5 296.6 10.6 546 5310 0.17 2.30 28.23 0.960 4 0.070 0.066 3325 3768 1766 0 0 0 0 0 0

5356 0.64 292.5 282.0 21.2 553 5361 0.22 2.12 0.00 0.000 6 0.155 0.048 3275 2501 1762 0 0 0 0 0 0

5559 0.66 292.5 253.9 13.0 572 5563 0.00 2.12 0.00 0.000 4 0.000 0.067 3275 3770 1756 0 0 0 0 0 0

5586 0.66 292.5 249.9 14.7 574 5590 0.00 2.05 0.00 0.000 6 0.000 0.048 3283 2497 1756 0 0 0 0 0 0

5721 0.66 292.5 231.6 13.4 586 5722 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 2494 1755 0 0 0 0 0 0

5848 0.66 292.5 213.8 14.1 598 5852 0.00 2.10 0.00 0.000 4 0.000 0.068 3283 3765 1754 0 0 0 0 0 0

5889 0.66 292.5 207.1 15.6 601 5899 0.00 2.08 0.00 0.000 6 0.000 0.049 3288 2494 1754 0 0 0 0 0 0

6025 0.66 292.5 187.6 14.5 614 6029 0.00 2.10 0.00 0.000 4 0.000 0.067 3288 3770 1753 0 0 0 0 0 0

6055 0.64 292.5 183.1 15.4 616 6058 0.00 2.03 0.00 0.000 6 0.000 0.050 3297 2498 1753 0 0 0 0 0 0

6195 0.64 292.5 162.1 14.7 629 6199 0.00 2.08 0.00 0.000 4 0.000 0.067 3297 3764 1752 0 0 0 0 0 0

6225 0.60 292.5 157.6 16.5 631 6230 0.17 2.03 0.00 0.000 6 0.152 0.049 3257 2491 1753 0 0 0 0 0 0

6361 0.71 322.7 142.0 10.6 643 6392 0.10 0.00 25.75 0.910 6 0.099 0.000 3310 2487 1644 0 0 0 0 0 0

6519 0.68 322.7 118.5 15.8 658 6523 0.00 2.12 0.00 0.000 4 0.000 0.066 3310 3767 1638 0 0 0 0 0 0

6570 0.63 322.7 109.3 18.3 662 6575 0.17 2.05 0.00 0.000 6 0.150 0.049 3271 2494 1637 0 0 0 0 0 0

6706 0.72 341.2 92.3 11.1 680 6727 0.00 0.00 16.90 0.867 6 0.000 0.000 3272 2491 1568 0 0 0 0 0 0

6860 0.81 353.2 75.2 11.4 707 6882 0.15 2.20 11.82 0.831 4 0.076 0.066 3337 3763 1520 0 0 0 0 0 0

6922 0.72 353.2 64.7 19.7 717 6929 0.17 2.08 0.00 0.000 6 0.158 0.049 3299 2496 1517 0 0 0 0 0 0

7063 0.72 353.2 43.6 14.1 742 7070 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 2494 1515 0 0 0 0 0 0

7203 0.75 353.2 23.2 15.0 767 7210 0.00 2.12 0.00 0.000 4 0.000 0.067 3298 3775 1514 0 0 0 0 0 0

7229 0.75 353.2 19.2 16.4 771 7236 0.00 2.05 0.00 0.000 6 0.000 0.049 3306 2498 1514 0 0 0 0 0 0

7331 end climb: SURFACE_DEPTH_REACHED

state 7332 begin surface coast

7350 end surface coast: CONTROL_FINISHED_OK

state 7350 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	59	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2650	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2500	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	23	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	-19483.344	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	261110,062908,-7726.157,16510.441,181,99.0,181,144.2	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	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-16.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261110,062908,-7726.157,16510.441,181,99.0,181,144.2	MHEAD_RNG_PITCHd_Wd	195.2,6247,-18.7,-12.000
SPEED_LIMITS	0.208,0.300	D_GRID	544

FREEZE	0.97,-1.833,-1.902,2,2,2	_24V_AH	21.8,21.030
FINISH	1.0,1.027886	_10V_AH	10.0,11.548
SM_CCo	7364,162.65,0.767,1,0,419,623.30	FG_AHR_24Vo	0.000
SM_GC	1.27,0.00,0.00,162.65,0.000,0.000,0.767,419,2659,419,-8.27,0.25,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7639.69,16500.29,261110,060609	MEM	275884
TT8_MAMPS	0.028462	DATA_FILE_SIZE	53870,792
HUMID	51.65	CAP_FILE_SIZE	116330,0
INTERNAL_PRESSURE	8.66244	CFSIZE	260165632,250408960
TCM_TEMP	13.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	GPS	261110,062908,-7726.157,16510.441,181,99.0,181,144.2
ALTIM_TOP_PING	19.2,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	227	102.03	SBE_CT	554	24	290.18
Roll_motor	84	81	150.52	AA4330	955	33	687.31
VBD_pump_during_apogee	484	1103	11658.58	WL_BBFL2VMT	939	105	2150.32
VBD_pump_during_surface	162	767	2720.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	99	103	222.76	nil	0	0	0.00
Iridium_during_connect	17	160	61.86	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	18.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	50	90.81
TT8	1877	19	371.75
LPSleep	3144	2	68.87
TT8_Active	743	19	147.17
TT8_Sampling	2137	39	850.87
TT8_CF8	173	45	79.25
TT8_Kalman	0	0	0.00
Analog_circuits	1585	12	190.25
GPS_charging	0	0	0.00
Compass	1321	15	198.25
RAFOS	0	0	0.00
Transponder	11	30	3.36

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.84	-175.2	0.0	0.0	0	173	0.00	0.00	-155.32	0.000	2	0.000	0.000	425	2656	3455	0	0	0	0	0	0
176	-0.84	-175.2	3.6	-4.1	24	198	9.18	1.83	-5.65	0.000	4	0.227	0.082	2781	3767	3679	0	0	0	0	0	0
427	-0.70	-175.2	53.8	-18.1	69	434	0.20	1.77	0.00	0.000	6	0.166	0.047	2837	2647	3682	0	0	0	0	0	0
567	-0.66	-175.2	73.4	-14.1	94	575	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	2645	3682	0	0	0	0	0	0
707	-0.63	-175.2	92.8	-13.5	119	713	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	2645	3683	0	0	0	0	0	0
850	-0.59	-175.2	112.3	-13.7	137	851	0.12	0.00	0.00	0.000	6	0.166	0.000	2874	2645	3682	0	0	0	0	0	0
977	-0.63	-175.2	126.2	-10.7	149	980	0.00	1.83	0.00	0.000	4	0.000	0.068	2867	3763	3683	0	0	0	0	0	0
1001	-0.67	-175.2	128.9	-10.8	151	1005	0.00	1.75	0.00	0.000	6	0.000	0.045	2867	2637	3682	0	0	0	0	0	0
1142	-0.69	-175.2	144.4	-11.3	164	1143	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	2636	3682	0	0	0	0	0	0
1269	-0.73	-175.2	158.7	-11.2	176	1273	0.10	1.85	0.00	0.000	4	0.109	0.068	2805	3761	3682	0	0	0	0	0	0
1314	-0.64	-175.2	165.5	-16.3	180	1318	0.17	1.75	0.00	0.000	6	0.164	0.047	2854	2642	3682	0	0	0	0	0	0
1453	-0.64	-175.2	183.5	-12.3	193	1454	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	2640	3682	0	0	0	0	0	0
1581	-0.64	-175.2	199.3	-12.4	205	1582	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	2640	3682	0	0	0	0	0	0
1709	-0.64	-175.2	214.5	-11.7	217	1712	0.00	1.83	0.00	0.000	4	0.000	0.070	2850	3761	3683	0	0	0	0	0	0
1743	-0.64	-175.2	218.7	-12.4	220	1747	0.00	1.75	0.00	0.000	6	0.000	0.047	2850	2640	3682	0	0	0	0	0	0
1885	-0.64	-175.2	235.6	-12.0	233	1893	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	2638	3682	0	0	0	0	0	0
2019	-0.64	-175.2	251.9	-11.9	246	2022	0.00	1.85	0.00	0.000	4	0.000	0.070	2842	3771	3682	0	0	0	0	0	0
2041	-0.64	-175.2	254.7	-12.4	248	2045	0.00	1.75	0.00	0.000	6	0.000	0.048	2842	2651	3682	0	0	0	0	0	0
2243	-0.64	-175.2	280.0	-12.6	267	2245	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2649	3682	0	0	0	0	0	0
2436	-0.64	-175.2	303.5	-12.2	285	2440	0.00	1.83	0.00	0.000	4	0.000	0.070	2833	3767	3682	0	0	0	0	0	0
2462	-0.62	-175.2	307.3	-13.1	287	2471	0.08	1.80	0.00	0.000	6	0.149	0.048	2858	2642	3682	0	0	0	0	0	0
2662	-0.65	-175.2	328.8	-10.7	306	2663	0.00	0.00	0.00	0.000	6	0.000	0.000	2859	2641	3682	0	0	0	0	0	0
2852	-0.67	-175.2	348.9	-10.6	324	2856	0.00	1.83	0.00	0.000	4	0.000	0.070	2854	3761	3682	0	0	0	0	0	0
2897	-0.71	-175.2	353.9	-11.5	328	2901	0.00	1.73	0.00	0.000	6	0.000	0.047	2854	2652	3682	0	0	0	0	0	0
3100	-0.71	-175.2	376.0	-11.0	347	3101	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2650	3682	0	0	0	0	0	0
3292	-0.73	-175.2	396.6	-10.8	365	3296	0.00	1.85	0.00	0.000	4	0.000	0.071	2846	3757	3682	0	0	0	0	0	0
3338	-0.76	-175.2	401.7	-11.3	369	3341	0.00	1.73	0.00	0.000	6	0.000	0.048	2846	2651	3682	0	0	0	0	0	0
3540	-0.76	-175.2	424.4	-11.2	388	3541	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	2649	3681	0	0	0	0	0	0
3733	-0.76	-175.2	445.8	-11.5	406	3737	0.00	1.83	0.00	0.000	4	0.000	0.071	2841	3767	3681	0	0	0	0	0	0
3771	end dive: TARGET_DEPTH_EXCEEDED
state	3771	begin apogee
3776	-0.17	0.0	450.7	11.9	409	3937	0.50	0.00	156.62	1.103	6	0.129	0.000	3005	2495	2961	0	0	0	0	0	0
3938	end apogee: CONTROL_FINISHED_OK
state	3938	begin climb
3940	0.84	175.2	456.1	0.0	424	4116	1.00	2.55	165.57	1.023	4	0.083	0.055	3328	1096	2243	0	0	0	0	0	0
4177	0.75	175.2	430.1	14.5	445	4184	0.00	2.47	0.00	0.000	6	0.000	0.057	3328	2497	2234	0	0	0	0	0	0
4375	0.60	175.2	397.8	16.7	464	4379	0.25	2.15	0.00	0.000	4	0.161	0.063	3256	3768	2229	0	0	0	0	0	0
4474	0.53	175.2	383.7	13.8	472	4482	0.00	2.10	0.00	0.000	6	0.000	0.048	3265	2504	2227	0	0	0	0	0	0
4673	0.50	181.3	360.3	11.7	491	4677	0.12	2.12	0.00	0.000	4	0.172	0.067	3232	3768	2225	0	0	0	0	0	0
4738	0.53	203.3	352.7	11.0	496	4768	0.00	2.10	23.60	0.991	6	0.000	0.047	3241	2488	2132	0	0	0	0	0	0
4960	0.61	240.4	330.4	10.3	517	5005	0.00	2.28	35.47	0.990	4	0.000	0.067	3241	3761	1978	0	0	0	0	0	0
5051	0.66	261.9	320.5	11.0	525	5077	0.00	2.10	20.83	0.954	6	0.000	0.048	3247	2493	1893	0	0	0	0	0	0
5275	0.76	292.5	296.6	10.6	546	5310	0.17	2.30	28.23	0.960	4	0.070	0.066	3325	3768	1766	0	0	0	0	0	0
5356	0.64	292.5	282.0	21.2	553	5361	0.22	2.12	0.00	0.000	6	0.155	0.048	3275	2501	1762	0	0	0	0	0	0
5559	0.66	292.5	253.9	13.0	572	5563	0.00	2.12	0.00	0.000	4	0.000	0.067	3275	3770	1756	0	0	0	0	0	0
5586	0.66	292.5	249.9	14.7	574	5590	0.00	2.05	0.00	0.000	6	0.000	0.048	3283	2497	1756	0	0	0	0	0	0
5721	0.66	292.5	231.6	13.4	586	5722	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	2494	1755	0	0	0	0	0	0
5848	0.66	292.5	213.8	14.1	598	5852	0.00	2.10	0.00	0.000	4	0.000	0.068	3283	3765	1754	0	0	0	0	0	0
5889	0.66	292.5	207.1	15.6	601	5899	0.00	2.08	0.00	0.000	6	0.000	0.049	3288	2494	1754	0	0	0	0	0	0
6025	0.66	292.5	187.6	14.5	614	6029	0.00	2.10	0.00	0.000	4	0.000	0.067	3288	3770	1753	0	0	0	0	0	0
6055	0.64	292.5	183.1	15.4	616	6058	0.00	2.03	0.00	0.000	6	0.000	0.050	3297	2498	1753	0	0	0	0	0	0
6195	0.64	292.5	162.1	14.7	629	6199	0.00	2.08	0.00	0.000	4	0.000	0.067	3297	3764	1752	0	0	0	0	0	0
6225	0.60	292.5	157.6	16.5	631	6230	0.17	2.03	0.00	0.000	6	0.152	0.049	3257	2491	1753	0	0	0	0	0	0
6361	0.71	322.7	142.0	10.6	643	6392	0.10	0.00	25.75	0.910	6	0.099	0.000	3310	2487	1644	0	0	0	0	0	0
6519	0.68	322.7	118.5	15.8	658	6523	0.00	2.12	0.00	0.000	4	0.000	0.066	3310	3767	1638	0	0	0	0	0	0
6570	0.63	322.7	109.3	18.3	662	6575	0.17	2.05	0.00	0.000	6	0.150	0.049	3271	2494	1637	0	0	0	0	0	0
6706	0.72	341.2	92.3	11.1	680	6727	0.00	0.00	16.90	0.867	6	0.000	0.000	3272	2491	1568	0	0	0	0	0	0
6860	0.81	353.2	75.2	11.4	707	6882	0.15	2.20	11.82	0.831	4	0.076	0.066	3337	3763	1520	0	0	0	0	0	0
6922	0.72	353.2	64.7	19.7	717	6929	0.17	2.08	0.00	0.000	6	0.158	0.049	3299	2496	1517	0	0	0	0	0	0
7063	0.72	353.2	43.6	14.1	742	7070	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	2494	1515	0	0	0	0	0	0
7203	0.75	353.2	23.2	15.0	767	7210	0.00	2.12	0.00	0.000	4	0.000	0.067	3298	3775	1514	0	0	0	0	0	0
7229	0.75	353.2	19.2	16.4	771	7236	0.00	2.05	0.00	0.000	6	0.000	0.049	3306	2498	1514	0	0	0	0	0	0
7331	end climb: SURFACE_DEPTH_REACHED
state	7332	begin surface coast
7350	end surface coast: CONTROL_FINISHED_OK
state	7350	begin surface