Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 60 * 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 60 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 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 25 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 -19848.586 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 -19848.586

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 29 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 25 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 60 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 1.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -12.6 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 0.94,-1.727,-1.902,2,3,0 _24V_AH 21.8,21.204

FINISH 0.9,1.027887 _10V_AH 10.0,11.650

SM_CCo 7378,174.32,0.777,1,0,419,623.30 FG_AHR_24Vo 0.000

SM_GC 1.29,0.00,0.00,174.32,0.000,0.000,0.777,426,2663,419,-8.25,0.40,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7639.69,16500.29,261110,060609 MEM 275884

TT8_MAMPS 0.028462 DATA_FILE_SIZE 53775,802

HUMID 51.81 CAP_FILE_SIZE 114329,0

INTERNAL_PRESSURE 8.66244 CFSIZE 260165632,250351616

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 3 GPS 261110,062908,-7726.157,16510.441,181,99.0,181,144.2

ALTIM_TOP_PING 19.5,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 225 96.92 SBE_CT 561 24 293.72

Roll_motor 81 74 131.40 AA4330 971 33 698.89

VBD_pump_during_apogee 452 1097 10814.28 WL_BBFL2VMT 953 105 2183.21

VBD_pump_during_surface 174 777 2953.73 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 99 103 222.52 nil 0 0 0.00

Iridium_during_connect 17 160 61.77 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 20.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 50 90.81

TT8 1880 19 372.37

LPSleep 3135 2 68.66

TT8_Active 764 19 151.32

TT8_Sampling 2148 39 855.27

TT8_CF8 171 45 78.49

TT8_Kalman 0 0 0.00

Analog_circuits 1601 12 192.20

GPS_charging 0 0 0.00

Compass 1317 15 197.61

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 0 172 0.00 0.00 -154.20 0.000 2 0.000 0.000 418 2660 3350 0 0 0 0 0 0

174 -0.84 -175.2 3.1 -1.7 24 203 9.12 2.35 -9.43 0.000 4 0.226 0.070 2788 1244 3681 0 0 0 0 0 0

355 -0.76 -175.2 34.0 -15.1 56 364 0.10 2.38 0.00 0.000 6 0.161 0.064 2811 2649 3683 0 0 0 0 0 0

497 -0.67 -175.2 56.0 -15.6 81 504 0.12 1.85 0.00 0.000 4 0.184 0.070 2839 3767 3683 0 0 0 0 0 0

538 -0.64 -175.2 62.4 -14.3 88 546 0.00 1.83 0.00 0.000 6 0.000 0.049 2839 2638 3683 0 0 0 0 0 0

678 -0.60 -175.2 81.1 -13.3 113 685 0.10 0.00 0.00 0.000 6 0.183 0.000 2865 2637 3683 0 0 0 0 0 0

816 -0.60 -175.2 97.8 -12.0 138 823 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2637 3684 0 0 0 0 0 0

959 -0.62 -175.2 113.9 -11.4 153 963 0.00 1.85 0.00 0.000 4 0.000 0.070 2858 3766 3684 0 0 0 0 0 0

994 -0.64 -175.2 118.1 -11.8 156 997 0.00 1.75 0.00 0.000 6 0.000 0.048 2858 2649 3683 0 0 0 0 0 0

1134 -0.64 -175.2 135.1 -12.4 169 1135 0.00 0.00 0.00 0.000 6 0.000 0.000 2858 2647 3684 0 0 0 0 0 0

1262 -0.64 -175.2 150.4 -11.8 181 1266 0.00 1.85 0.00 0.000 4 0.000 0.072 2854 3775 3684 0 0 0 0 0 0

1287 -0.64 -175.2 153.9 -12.1 183 1297 0.00 1.80 0.00 0.000 6 0.000 0.048 2854 2654 3684 0 0 0 0 0 0

1423 -0.64 -175.2 169.7 -12.2 196 1424 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2654 3684 0 0 0 0 0 0

1551 -0.64 -175.2 184.8 -11.6 208 1555 0.00 1.83 0.00 0.000 4 0.000 0.072 2846 3770 3684 0 0 0 0 0 0

1575 -0.64 -175.2 187.9 -12.6 210 1578 0.00 1.75 0.00 0.000 6 0.000 0.048 2846 2647 3684 0 0 0 0 0 0

1715 -0.64 -175.2 205.4 -12.3 223 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 2645 3684 0 0 0 0 0 0

1843 -0.64 -175.2 221.3 -12.3 235 1844 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 2645 3684 0 0 0 0 0 0

1970 -0.64 -175.2 237.1 -12.5 247 1973 0.00 1.85 0.00 0.000 4 0.000 0.073 2842 3776 3684 0 0 0 0 0 0

2006 -0.64 -175.2 242.1 -13.5 250 2015 0.00 1.80 0.00 0.000 6 0.000 0.049 2841 2652 3683 0 0 0 0 0 0

2140 -0.64 -175.2 258.4 -12.0 263 2141 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2652 3684 0 0 0 0 0 0

2333 -0.64 -175.2 281.8 -12.7 281 2334 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2652 3684 0 0 0 0 0 0

2523 -0.64 -175.2 305.1 -12.0 299 2526 0.00 1.83 0.00 0.000 4 0.000 0.071 2833 3771 3684 0 0 0 0 0 0

2557 -0.62 -175.2 309.6 -13.3 302 2561 0.10 1.75 0.00 0.000 6 0.175 0.050 2859 2649 3683 0 0 0 0 0 0

2762 -0.65 -175.2 332.3 -11.2 321 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2859 2647 3683 0 0 0 0 0 0

2951 -0.67 -175.2 354.1 -11.3 339 2955 0.00 1.83 0.00 0.000 4 0.000 0.071 2854 3765 3683 0 0 0 0 0 0

2989 -0.70 -175.2 358.7 -12.0 342 2997 0.00 1.77 0.00 0.000 6 0.000 0.048 2854 2654 3683 0 0 0 0 0 0

3187 -0.70 -175.2 381.6 -11.7 361 3188 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2653 3683 0 0 0 0 0 0

3378 -0.70 -175.2 403.5 -11.0 379 3380 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2654 3683 0 0 0 0 0 0

3569 -0.70 -175.2 424.7 -11.2 397 3573 0.00 1.83 0.00 0.000 4 0.000 0.072 2846 3771 3683 0 0 0 0 0 0

3607 -0.70 -175.2 429.2 -11.2 400 3615 0.00 1.80 0.00 0.000 6 0.000 0.049 2846 2641 3683 0 0 0 0 0 0

3794 end dive: TARGET_DEPTH_EXCEEDED

state 3794 begin apogee

3798 -0.17 0.0 450.6 11.7 418 3962 0.50 0.00 156.80 1.097 6 0.134 0.000 3007 2494 2961 0 0 0 0 0 0

3963 end apogee: CONTROL_FINISHED_OK

state 3963 begin climb

3964 0.84 175.2 456.6 0.0 433 4140 1.00 2.55 165.45 1.010 4 0.083 0.054 3337 1102 2243 0 0 0 0 0 0

4212 0.73 175.2 429.3 15.4 455 4220 0.15 2.45 0.00 0.000 6 0.161 0.057 3301 2502 2232 0 0 0 0 0 0

4413 0.62 175.2 401.1 14.1 474 4417 0.12 2.12 0.00 0.000 4 0.177 0.066 3270 3763 2227 0 0 0 0 0 0

4520 0.52 175.2 385.7 13.5 483 4524 0.15 2.03 0.00 0.000 6 0.171 0.047 3239 2508 2227 0 0 0 0 0 0

4719 0.62 232.3 366.4 9.4 501 4775 0.00 2.30 50.62 1.017 4 0.000 0.066 3239 3770 2013 0 0 0 0 0 0

4826 0.69 265.8 355.5 10.5 510 4866 0.12 2.12 31.88 0.983 6 0.083 0.047 3303 2499 1876 0 0 0 0 0 0

5057 0.63 265.8 320.9 15.7 532 5061 0.12 2.17 0.00 0.000 4 0.160 0.067 3272 3763 1866 0 0 0 0 0 0

5096 0.61 265.8 314.7 14.8 535 5100 0.00 2.08 0.00 0.000 6 0.000 0.047 3281 2500 1866 0 0 0 0 0 0

5293 0.61 265.8 288.8 13.3 553 5297 0.00 2.12 0.00 0.000 4 0.000 0.067 3281 3772 1863 0 0 0 0 0 0

5325 0.57 265.8 283.9 14.6 555 5333 0.10 2.10 0.00 0.000 6 0.142 0.048 3256 2499 1863 0 0 0 0 0 0

5525 0.67 305.2 262.6 10.2 574 5570 0.00 2.28 34.22 0.973 4 0.000 0.067 3257 3769 1714 0 0 0 0 0 0

5593 0.74 318.6 255.2 11.4 580 5617 0.12 2.10 13.23 0.901 6 0.085 0.048 3316 2494 1661 0 0 0 0 0 0

5808 0.69 318.6 220.3 16.9 600 5810 0.12 0.00 0.00 0.000 6 0.161 0.000 3285 2494 1654 0 0 0 0 0 0

5935 0.71 318.6 202.7 13.4 612 5939 0.00 2.12 0.00 0.000 4 0.000 0.068 3285 3772 1651 0 0 0 0 0 0

5974 0.71 318.6 196.9 13.9 615 5978 0.00 2.05 0.00 0.000 6 0.000 0.049 3287 2498 1652 0 0 0 0 0 0

6109 0.71 318.6 178.4 13.5 627 6110 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2495 1650 0 0 0 0 0 0

6236 0.71 318.6 161.4 13.3 639 6240 0.00 2.10 0.00 0.000 4 0.000 0.068 3288 3769 1649 0 0 0 0 0 0

6266 0.71 318.6 156.4 15.6 641 6275 0.00 2.05 0.00 0.000 6 0.000 0.049 3296 2503 1649 0 0 0 0 0 0

6404 0.71 318.6 137.2 14.7 654 6405 0.00 0.00 0.00 0.000 6 0.000 0.000 3297 2501 1648 0 0 0 0 0 0

6529 0.71 318.6 119.3 14.0 666 6533 0.00 2.08 0.00 0.000 4 0.000 0.067 3296 3769 1648 0 0 0 0 0 0

6549 0.71 318.6 115.8 14.9 667 6559 0.00 2.05 0.00 0.000 6 0.000 0.049 3305 2503 1648 0 0 0 0 0 0

6684 0.71 318.6 95.9 15.4 682 6692 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2502 1647 0 0 0 0 0 0

6824 0.71 318.6 74.7 15.1 707 6830 0.00 2.08 0.00 0.000 4 0.000 0.067 3305 3768 1647 0 0 0 0 0 0

6864 0.67 318.6 68.0 16.7 714 6872 0.08 2.05 0.00 0.000 6 0.136 0.049 3289 2500 1647 0 0 0 0 0 0

7006 0.70 318.6 48.9 14.4 739 7012 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 2498 1647 0 0 0 0 0 0

7143 0.74 318.6 30.6 13.3 764 7150 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 2498 1646 0 0 0 0 0 0

7284 0.77 318.6 12.1 13.5 789 7291 0.00 2.08 0.00 0.000 4 0.000 0.068 3289 3764 1646 0 0 0 0 0 0

7332 0.77 318.6 5.0 14.7 797 7339 0.00 2.00 0.00 0.000 6 0.000 0.049 3296 2499 1646 0 0 0 0 0 0

7346 end climb: SURFACE_DEPTH_REACHED

state 7346 begin surface coast

7364 end surface coast: CONTROL_FINISHED_OK

state 7364 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	60	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	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	25	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	-19848.586	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	1.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-12.6	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	0.94,-1.727,-1.902,2,3,0	_24V_AH	21.8,21.204
FINISH	0.9,1.027887	_10V_AH	10.0,11.650
SM_CCo	7378,174.32,0.777,1,0,419,623.30	FG_AHR_24Vo	0.000
SM_GC	1.29,0.00,0.00,174.32,0.000,0.000,0.777,426,2663,419,-8.25,0.40,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7639.69,16500.29,261110,060609	MEM	275884
TT8_MAMPS	0.028462	DATA_FILE_SIZE	53775,802
HUMID	51.81	CAP_FILE_SIZE	114329,0
INTERNAL_PRESSURE	8.66244	CFSIZE	260165632,250351616
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	3	GPS	261110,062908,-7726.157,16510.441,181,99.0,181,144.2
ALTIM_TOP_PING	19.5,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	225	96.92	SBE_CT	561	24	293.72
Roll_motor	81	74	131.40	AA4330	971	33	698.89
VBD_pump_during_apogee	452	1097	10814.28	WL_BBFL2VMT	953	105	2183.21
VBD_pump_during_surface	174	777	2953.73	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	99	103	222.52	nil	0	0	0.00
Iridium_during_connect	17	160	61.77	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	20.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	50	90.81
TT8	1880	19	372.37
LPSleep	3135	2	68.66
TT8_Active	764	19	151.32
TT8_Sampling	2148	39	855.27
TT8_CF8	171	45	78.49
TT8_Kalman	0	0	0.00
Analog_circuits	1601	12	192.20
GPS_charging	0	0	0.00
Compass	1317	15	197.61
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	172	0.00	0.00	-154.20	0.000	2	0.000	0.000	418	2660	3350	0	0	0	0	0	0
174	-0.84	-175.2	3.1	-1.7	24	203	9.12	2.35	-9.43	0.000	4	0.226	0.070	2788	1244	3681	0	0	0	0	0	0
355	-0.76	-175.2	34.0	-15.1	56	364	0.10	2.38	0.00	0.000	6	0.161	0.064	2811	2649	3683	0	0	0	0	0	0
497	-0.67	-175.2	56.0	-15.6	81	504	0.12	1.85	0.00	0.000	4	0.184	0.070	2839	3767	3683	0	0	0	0	0	0
538	-0.64	-175.2	62.4	-14.3	88	546	0.00	1.83	0.00	0.000	6	0.000	0.049	2839	2638	3683	0	0	0	0	0	0
678	-0.60	-175.2	81.1	-13.3	113	685	0.10	0.00	0.00	0.000	6	0.183	0.000	2865	2637	3683	0	0	0	0	0	0
816	-0.60	-175.2	97.8	-12.0	138	823	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2637	3684	0	0	0	0	0	0
959	-0.62	-175.2	113.9	-11.4	153	963	0.00	1.85	0.00	0.000	4	0.000	0.070	2858	3766	3684	0	0	0	0	0	0
994	-0.64	-175.2	118.1	-11.8	156	997	0.00	1.75	0.00	0.000	6	0.000	0.048	2858	2649	3683	0	0	0	0	0	0
1134	-0.64	-175.2	135.1	-12.4	169	1135	0.00	0.00	0.00	0.000	6	0.000	0.000	2858	2647	3684	0	0	0	0	0	0
1262	-0.64	-175.2	150.4	-11.8	181	1266	0.00	1.85	0.00	0.000	4	0.000	0.072	2854	3775	3684	0	0	0	0	0	0
1287	-0.64	-175.2	153.9	-12.1	183	1297	0.00	1.80	0.00	0.000	6	0.000	0.048	2854	2654	3684	0	0	0	0	0	0
1423	-0.64	-175.2	169.7	-12.2	196	1424	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2654	3684	0	0	0	0	0	0
1551	-0.64	-175.2	184.8	-11.6	208	1555	0.00	1.83	0.00	0.000	4	0.000	0.072	2846	3770	3684	0	0	0	0	0	0
1575	-0.64	-175.2	187.9	-12.6	210	1578	0.00	1.75	0.00	0.000	6	0.000	0.048	2846	2647	3684	0	0	0	0	0	0
1715	-0.64	-175.2	205.4	-12.3	223	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	2645	3684	0	0	0	0	0	0
1843	-0.64	-175.2	221.3	-12.3	235	1844	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	2645	3684	0	0	0	0	0	0
1970	-0.64	-175.2	237.1	-12.5	247	1973	0.00	1.85	0.00	0.000	4	0.000	0.073	2842	3776	3684	0	0	0	0	0	0
2006	-0.64	-175.2	242.1	-13.5	250	2015	0.00	1.80	0.00	0.000	6	0.000	0.049	2841	2652	3683	0	0	0	0	0	0
2140	-0.64	-175.2	258.4	-12.0	263	2141	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2652	3684	0	0	0	0	0	0
2333	-0.64	-175.2	281.8	-12.7	281	2334	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2652	3684	0	0	0	0	0	0
2523	-0.64	-175.2	305.1	-12.0	299	2526	0.00	1.83	0.00	0.000	4	0.000	0.071	2833	3771	3684	0	0	0	0	0	0
2557	-0.62	-175.2	309.6	-13.3	302	2561	0.10	1.75	0.00	0.000	6	0.175	0.050	2859	2649	3683	0	0	0	0	0	0
2762	-0.65	-175.2	332.3	-11.2	321	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2859	2647	3683	0	0	0	0	0	0
2951	-0.67	-175.2	354.1	-11.3	339	2955	0.00	1.83	0.00	0.000	4	0.000	0.071	2854	3765	3683	0	0	0	0	0	0
2989	-0.70	-175.2	358.7	-12.0	342	2997	0.00	1.77	0.00	0.000	6	0.000	0.048	2854	2654	3683	0	0	0	0	0	0
3187	-0.70	-175.2	381.6	-11.7	361	3188	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2653	3683	0	0	0	0	0	0
3378	-0.70	-175.2	403.5	-11.0	379	3380	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2654	3683	0	0	0	0	0	0
3569	-0.70	-175.2	424.7	-11.2	397	3573	0.00	1.83	0.00	0.000	4	0.000	0.072	2846	3771	3683	0	0	0	0	0	0
3607	-0.70	-175.2	429.2	-11.2	400	3615	0.00	1.80	0.00	0.000	6	0.000	0.049	2846	2641	3683	0	0	0	0	0	0
3794	end dive: TARGET_DEPTH_EXCEEDED
state	3794	begin apogee
3798	-0.17	0.0	450.6	11.7	418	3962	0.50	0.00	156.80	1.097	6	0.134	0.000	3007	2494	2961	0	0	0	0	0	0
3963	end apogee: CONTROL_FINISHED_OK
state	3963	begin climb
3964	0.84	175.2	456.6	0.0	433	4140	1.00	2.55	165.45	1.010	4	0.083	0.054	3337	1102	2243	0	0	0	0	0	0
4212	0.73	175.2	429.3	15.4	455	4220	0.15	2.45	0.00	0.000	6	0.161	0.057	3301	2502	2232	0	0	0	0	0	0
4413	0.62	175.2	401.1	14.1	474	4417	0.12	2.12	0.00	0.000	4	0.177	0.066	3270	3763	2227	0	0	0	0	0	0
4520	0.52	175.2	385.7	13.5	483	4524	0.15	2.03	0.00	0.000	6	0.171	0.047	3239	2508	2227	0	0	0	0	0	0
4719	0.62	232.3	366.4	9.4	501	4775	0.00	2.30	50.62	1.017	4	0.000	0.066	3239	3770	2013	0	0	0	0	0	0
4826	0.69	265.8	355.5	10.5	510	4866	0.12	2.12	31.88	0.983	6	0.083	0.047	3303	2499	1876	0	0	0	0	0	0
5057	0.63	265.8	320.9	15.7	532	5061	0.12	2.17	0.00	0.000	4	0.160	0.067	3272	3763	1866	0	0	0	0	0	0
5096	0.61	265.8	314.7	14.8	535	5100	0.00	2.08	0.00	0.000	6	0.000	0.047	3281	2500	1866	0	0	0	0	0	0
5293	0.61	265.8	288.8	13.3	553	5297	0.00	2.12	0.00	0.000	4	0.000	0.067	3281	3772	1863	0	0	0	0	0	0
5325	0.57	265.8	283.9	14.6	555	5333	0.10	2.10	0.00	0.000	6	0.142	0.048	3256	2499	1863	0	0	0	0	0	0
5525	0.67	305.2	262.6	10.2	574	5570	0.00	2.28	34.22	0.973	4	0.000	0.067	3257	3769	1714	0	0	0	0	0	0
5593	0.74	318.6	255.2	11.4	580	5617	0.12	2.10	13.23	0.901	6	0.085	0.048	3316	2494	1661	0	0	0	0	0	0
5808	0.69	318.6	220.3	16.9	600	5810	0.12	0.00	0.00	0.000	6	0.161	0.000	3285	2494	1654	0	0	0	0	0	0
5935	0.71	318.6	202.7	13.4	612	5939	0.00	2.12	0.00	0.000	4	0.000	0.068	3285	3772	1651	0	0	0	0	0	0
5974	0.71	318.6	196.9	13.9	615	5978	0.00	2.05	0.00	0.000	6	0.000	0.049	3287	2498	1652	0	0	0	0	0	0
6109	0.71	318.6	178.4	13.5	627	6110	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2495	1650	0	0	0	0	0	0
6236	0.71	318.6	161.4	13.3	639	6240	0.00	2.10	0.00	0.000	4	0.000	0.068	3288	3769	1649	0	0	0	0	0	0
6266	0.71	318.6	156.4	15.6	641	6275	0.00	2.05	0.00	0.000	6	0.000	0.049	3296	2503	1649	0	0	0	0	0	0
6404	0.71	318.6	137.2	14.7	654	6405	0.00	0.00	0.00	0.000	6	0.000	0.000	3297	2501	1648	0	0	0	0	0	0
6529	0.71	318.6	119.3	14.0	666	6533	0.00	2.08	0.00	0.000	4	0.000	0.067	3296	3769	1648	0	0	0	0	0	0
6549	0.71	318.6	115.8	14.9	667	6559	0.00	2.05	0.00	0.000	6	0.000	0.049	3305	2503	1648	0	0	0	0	0	0
6684	0.71	318.6	95.9	15.4	682	6692	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2502	1647	0	0	0	0	0	0
6824	0.71	318.6	74.7	15.1	707	6830	0.00	2.08	0.00	0.000	4	0.000	0.067	3305	3768	1647	0	0	0	0	0	0
6864	0.67	318.6	68.0	16.7	714	6872	0.08	2.05	0.00	0.000	6	0.136	0.049	3289	2500	1647	0	0	0	0	0	0
7006	0.70	318.6	48.9	14.4	739	7012	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	2498	1647	0	0	0	0	0	0
7143	0.74	318.6	30.6	13.3	764	7150	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	2498	1646	0	0	0	0	0	0
7284	0.77	318.6	12.1	13.5	789	7291	0.00	2.08	0.00	0.000	4	0.000	0.068	3289	3764	1646	0	0	0	0	0	0
7332	0.77	318.6	5.0	14.7	797	7339	0.00	2.00	0.00	0.000	6	0.000	0.049	3296	2499	1646	0	0	0	0	0	0
7346	end climb: SURFACE_DEPTH_REACHED
state	7346	begin surface coast
7364	end surface coast: CONTROL_FINISHED_OK
state	7364	begin surface