Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 62 * 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 62 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 30 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 -20579.105 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 -20579.105

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 30 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 62 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 1.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -14.1 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 1.56,-1.730,-1.902,2,5,0 _24V_AH 21.7,21.551

FINISH 1.6,1.027879 _10V_AH 10.0,11.853

SM_CCo 7305,177.45,0.763,2,0,420,623.30 FG_AHR_24Vo 0.000

SM_GC 1.31,0.00,0.00,177.45,0.000,0.000,0.763,421,2645,420,-8.26,-0.14,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7639.69,16500.29,261110,060609 MEM 275884

TT8_MAMPS 0.028462 DATA_FILE_SIZE 53788,784

HUMID 51.85 CAP_FILE_SIZE 115642,0

INTERNAL_PRESSURE 8.66244 CFSIZE 260165632,250220544

TCM_TEMP 13.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

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

ALTIM_TOP_PING 20.0,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 224 101.39 SBE_CT 549 24 286.10

Roll_motor 84 71 132.60 AA4330 948 33 679.34

VBD_pump_during_apogee 459 1103 11000.52 WL_BBFL2VMT 943 105 2148.73

VBD_pump_during_surface 177 763 2939.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 99 103 222.03 nil 0 0 0.00

Iridium_during_connect 17 160 61.54 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 22.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 50 90.82

TT8 1858 19 368.07

LPSleep 3117 2 68.27

TT8_Active 755 19 149.65

TT8_Sampling 2135 39 849.78

TT8_CF8 174 45 80.05

TT8_Kalman 0 0 0.00

Analog_circuits 1597 12 191.71

GPS_charging 0 0 0.00

Compass 1306 15 195.93

RAFOS 0 0 0.00

Transponder 14 30 4.23

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.84 -175.2 0.0 0.0 0 172 0.00 0.00 -154.65 0.000 2 0.000 0.000 421 2661 3343 0 0 0 0 0 0

175 -0.84 -175.2 3.2 -2.1 24 203 9.12 2.38 -9.65 0.000 4 0.225 0.070 2791 1232 3680 0 0 0 0 0 0

388 -0.76 -175.2 39.0 -16.0 62 397 0.10 2.38 0.00 0.000 6 0.160 0.063 2813 2642 3681 0 0 0 0 0 0

530 -0.67 -175.2 61.3 -15.8 87 537 0.12 1.85 0.00 0.000 4 0.184 0.071 2841 3764 3682 0 0 0 0 0 0

570 -0.65 -175.2 67.5 -14.7 94 578 0.00 1.80 0.00 0.000 6 0.000 0.049 2841 2648 3682 0 0 0 0 0 0

711 -0.62 -175.2 85.8 -12.7 119 717 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 2647 3682 0 0 0 0 0 0

849 -0.58 -175.2 104.8 -14.2 141 851 0.12 0.00 0.00 0.000 6 0.171 0.000 2875 2647 3682 0 0 0 0 0 0

976 -0.63 -175.2 118.8 -10.3 153 980 0.00 1.83 0.00 0.000 4 0.000 0.070 2868 3764 3682 0 0 0 0 0 0

1002 -0.67 -175.2 122.1 -12.0 155 1011 0.00 1.80 0.00 0.000 6 0.000 0.048 2868 2641 3682 0 0 0 0 0 0

1138 -0.69 -175.2 136.7 -11.0 168 1139 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2641 3682 0 0 0 0 0 0

1265 -0.73 -175.2 151.2 -11.3 180 1269 0.10 1.85 0.00 0.000 4 0.109 0.070 2806 3764 3682 0 0 0 0 0 0

1301 -0.64 -175.2 157.0 -16.0 183 1311 0.12 1.77 0.00 0.000 6 0.144 0.048 2848 2657 3682 0 0 0 0 0 0

1438 -0.64 -175.2 174.6 -13.0 196 1439 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 2656 3682 0 0 0 0 0 0

1564 -0.64 -175.2 190.6 -12.5 208 1567 0.00 1.83 0.00 0.000 4 0.000 0.070 2842 3773 3682 0 0 0 0 0 0

1588 -0.64 -175.2 194.5 -13.4 210 1598 0.00 1.80 0.00 0.000 6 0.000 0.048 2841 2650 3682 0 0 0 0 0 0

1725 -0.62 -175.2 211.9 -13.5 223 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 2650 3682 0 0 0 0 0 0

1853 -0.60 -175.2 228.7 -12.7 235 1854 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 2649 3682 0 0 0 0 0 0

1980 -0.60 -175.2 245.4 -13.2 247 1983 0.00 1.83 0.00 0.000 4 0.000 0.071 2832 3764 3682 0 0 0 0 0 0

2005 -0.58 -175.2 249.4 -14.1 249 2016 0.12 1.77 0.00 0.000 6 0.136 0.048 2875 2651 3681 0 0 0 0 0 0

2140 -0.63 -175.2 263.5 -10.3 262 2141 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2650 3682 0 0 0 0 0 0

2331 -0.69 -175.2 282.7 -10.2 280 2334 0.00 1.85 0.00 0.000 4 0.000 0.071 2869 3769 3682 0 0 0 0 0 0

2377 -0.76 -175.2 287.6 -11.0 284 2381 0.10 1.80 0.00 0.000 6 0.059 0.048 2802 2647 3682 0 0 0 0 0 0

2579 -0.67 -175.2 318.1 -15.4 303 2581 0.15 0.00 0.00 0.000 6 0.174 0.000 2843 2645 3682 0 0 0 0 0 0

2770 -0.67 -175.2 341.9 -12.2 321 2774 0.00 1.88 0.00 0.000 4 0.000 0.072 2842 3764 3682 0 0 0 0 0 0

2815 -0.67 -175.2 347.4 -12.1 325 2818 0.00 1.75 0.00 0.000 6 0.000 0.048 2842 2640 3682 0 0 0 0 0 0

3018 -0.67 -175.2 372.2 -12.4 344 3019 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2638 3682 0 0 0 0 0 0

3210 -0.67 -175.2 395.8 -12.7 362 3213 0.00 1.85 0.00 0.000 4 0.000 0.071 2833 3773 3682 0 0 0 0 0 0

3265 -0.67 -175.2 403.2 -13.1 367 3269 0.00 1.75 0.00 0.000 6 0.000 0.050 2833 2652 3681 0 0 0 0 0 0

3468 -0.64 -175.2 429.3 -12.9 386 3469 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2650 3681 0 0 0 0 0 0

3641 end dive: TARGET_DEPTH_EXCEEDED

state 3641 begin apogee

3645 -0.17 0.0 451.0 12.5 402 3809 0.52 0.00 156.95 1.104 6 0.135 0.000 3004 2490 2960 0 0 0 0 0 0

3810 end apogee: CONTROL_FINISHED_OK

state 3810 begin climb

3811 0.84 175.2 457.9 0.0 417 3987 1.02 2.55 165.60 1.029 4 0.085 0.054 3339 1098 2246 0 0 0 0 0 0

4080 0.73 175.2 427.8 15.6 441 4085 0.15 2.45 0.00 0.000 6 0.163 0.057 3303 2500 2234 0 0 0 0 0 0

4277 0.62 175.2 398.5 14.5 459 4282 0.15 2.15 0.00 0.000 4 0.174 0.067 3265 3768 2229 0 0 0 0 0 0

4373 0.53 175.2 385.1 13.7 467 4377 0.12 2.05 0.00 0.000 6 0.174 0.047 3241 2508 2229 0 0 0 0 0 0

4576 0.62 230.3 364.9 9.5 486 4632 0.00 2.22 49.00 1.002 4 0.000 0.065 3241 3763 2021 0 0 0 0 0 0

4689 0.64 246.0 352.9 11.3 496 4712 0.00 2.10 15.50 0.942 6 0.000 0.047 3247 2494 1957 0 0 0 0 0 0

4905 0.73 277.9 330.3 10.5 516 4942 0.15 2.30 29.75 0.970 4 0.076 0.066 3315 3767 1826 0 0 0 0 0 0

4982 0.62 277.9 317.6 18.5 523 4987 0.22 2.12 0.00 0.000 6 0.153 0.049 3264 2498 1823 0 0 0 0 0 0

5185 0.66 281.6 292.8 11.8 542 5189 0.00 2.12 0.00 0.000 4 0.000 0.068 3264 3762 1817 0 0 0 0 0 0

5213 0.66 281.6 289.0 13.1 544 5217 0.00 2.05 0.00 0.000 6 0.000 0.048 3272 2496 1817 0 0 0 0 0 0

5410 0.68 281.6 265.1 12.1 562 5414 0.00 2.10 0.00 0.000 4 0.000 0.069 3272 3764 1815 0 0 0 0 0 0

5438 0.68 281.6 261.3 13.6 564 5442 0.00 2.03 0.00 0.000 6 0.000 0.050 3281 2499 1815 0 0 0 0 0 0

5642 0.68 281.6 235.5 12.8 583 5646 0.00 2.10 0.00 0.000 4 0.000 0.068 3281 3771 1814 0 0 0 0 0 0

5683 0.65 281.6 229.9 14.8 586 5687 0.00 2.03 0.00 0.000 6 0.000 0.047 3287 2495 1813 0 0 0 0 0 0

5825 0.65 281.6 211.4 13.1 599 5826 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 2493 1813 0 0 0 0 0 0

5951 0.65 281.6 194.8 12.9 611 5955 0.00 2.08 0.00 0.000 4 0.000 0.066 3288 3764 1813 0 0 0 0 0 0

5991 0.60 281.6 189.1 15.5 614 5995 0.12 2.00 0.00 0.000 6 0.167 0.049 3264 2499 1813 0 0 0 0 0 0

6126 0.67 297.0 173.1 11.3 626 6146 0.00 0.00 16.12 0.907 6 0.000 0.000 3264 2496 1749 0 0 0 0 0 0

6275 0.76 325.1 156.9 10.7 640 6313 0.12 2.25 26.30 0.903 4 0.086 0.067 3325 3769 1633 0 0 0 0 0 0

6349 0.67 325.1 144.6 19.1 646 6353 0.20 2.08 0.00 0.000 6 0.151 0.049 3280 2499 1631 0 0 0 0 0 0

6485 0.71 325.1 126.2 12.7 658 6493 0.00 0.00 0.00 0.000 6 0.000 0.000 3280 2496 1627 0 0 0 0 0 0

6620 0.76 325.1 108.7 13.0 671 6624 0.00 2.10 0.00 0.000 4 0.000 0.067 3280 3763 1624 0 0 0 0 0 0

6649 0.79 325.1 104.7 14.9 673 6653 0.00 2.03 0.00 0.000 6 0.000 0.048 3287 2498 1625 0 0 0 0 0 0

6786 0.82 325.1 85.4 14.1 695 6792 0.12 0.00 0.00 0.000 6 0.090 0.000 3344 2494 1624 0 0 0 0 0 0

6923 0.71 325.1 58.8 19.3 720 6932 0.17 2.12 0.00 0.000 4 0.161 0.067 3296 3765 1623 0 0 0 0 0 0

6960 0.67 325.1 51.8 18.3 726 6968 0.00 2.05 0.00 0.000 6 0.000 0.050 3304 2505 1623 0 0 0 0 0 0

7101 0.67 325.1 30.2 15.9 751 7107 0.00 0.00 0.00 0.000 6 0.000 0.000 3304 2503 1622 0 0 0 0 0 0

7239 0.67 325.1 9.8 14.1 776 7248 0.00 2.10 0.00 0.000 4 0.000 0.067 3304 3761 1621 0 0 0 0 0 0

7283 end climb: SURFACE_DEPTH_REACHED

state 7283 begin surface coast

7289 end surface coast: CONTROL_FINISHED_OK

state 7289 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	62	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	30	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	-20579.105	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	1.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-14.1	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	1.56,-1.730,-1.902,2,5,0	_24V_AH	21.7,21.551
FINISH	1.6,1.027879	_10V_AH	10.0,11.853
SM_CCo	7305,177.45,0.763,2,0,420,623.30	FG_AHR_24Vo	0.000
SM_GC	1.31,0.00,0.00,177.45,0.000,0.000,0.763,421,2645,420,-8.26,-0.14,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7639.69,16500.29,261110,060609	MEM	275884
TT8_MAMPS	0.028462	DATA_FILE_SIZE	53788,784
HUMID	51.85	CAP_FILE_SIZE	115642,0
INTERNAL_PRESSURE	8.66244	CFSIZE	260165632,250220544
TCM_TEMP	13.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	3	GPS	261110,062908,-7726.157,16510.441,181,99.0,181,144.2
ALTIM_TOP_PING	20.0,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	224	101.39	SBE_CT	549	24	286.10
Roll_motor	84	71	132.60	AA4330	948	33	679.34
VBD_pump_during_apogee	459	1103	11000.52	WL_BBFL2VMT	943	105	2148.73
VBD_pump_during_surface	177	763	2939.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	99	103	222.03	nil	0	0	0.00
Iridium_during_connect	17	160	61.54	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	22.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	50	90.82
TT8	1858	19	368.07
LPSleep	3117	2	68.27
TT8_Active	755	19	149.65
TT8_Sampling	2135	39	849.78
TT8_CF8	174	45	80.05
TT8_Kalman	0	0	0.00
Analog_circuits	1597	12	191.71
GPS_charging	0	0	0.00
Compass	1306	15	195.93
RAFOS	0	0	0.00
Transponder	14	30	4.23

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.84	-175.2	0.0	0.0	0	172	0.00	0.00	-154.65	0.000	2	0.000	0.000	421	2661	3343	0	0	0	0	0	0
175	-0.84	-175.2	3.2	-2.1	24	203	9.12	2.38	-9.65	0.000	4	0.225	0.070	2791	1232	3680	0	0	0	0	0	0
388	-0.76	-175.2	39.0	-16.0	62	397	0.10	2.38	0.00	0.000	6	0.160	0.063	2813	2642	3681	0	0	0	0	0	0
530	-0.67	-175.2	61.3	-15.8	87	537	0.12	1.85	0.00	0.000	4	0.184	0.071	2841	3764	3682	0	0	0	0	0	0
570	-0.65	-175.2	67.5	-14.7	94	578	0.00	1.80	0.00	0.000	6	0.000	0.049	2841	2648	3682	0	0	0	0	0	0
711	-0.62	-175.2	85.8	-12.7	119	717	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	2647	3682	0	0	0	0	0	0
849	-0.58	-175.2	104.8	-14.2	141	851	0.12	0.00	0.00	0.000	6	0.171	0.000	2875	2647	3682	0	0	0	0	0	0
976	-0.63	-175.2	118.8	-10.3	153	980	0.00	1.83	0.00	0.000	4	0.000	0.070	2868	3764	3682	0	0	0	0	0	0
1002	-0.67	-175.2	122.1	-12.0	155	1011	0.00	1.80	0.00	0.000	6	0.000	0.048	2868	2641	3682	0	0	0	0	0	0
1138	-0.69	-175.2	136.7	-11.0	168	1139	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2641	3682	0	0	0	0	0	0
1265	-0.73	-175.2	151.2	-11.3	180	1269	0.10	1.85	0.00	0.000	4	0.109	0.070	2806	3764	3682	0	0	0	0	0	0
1301	-0.64	-175.2	157.0	-16.0	183	1311	0.12	1.77	0.00	0.000	6	0.144	0.048	2848	2657	3682	0	0	0	0	0	0
1438	-0.64	-175.2	174.6	-13.0	196	1439	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	2656	3682	0	0	0	0	0	0
1564	-0.64	-175.2	190.6	-12.5	208	1567	0.00	1.83	0.00	0.000	4	0.000	0.070	2842	3773	3682	0	0	0	0	0	0
1588	-0.64	-175.2	194.5	-13.4	210	1598	0.00	1.80	0.00	0.000	6	0.000	0.048	2841	2650	3682	0	0	0	0	0	0
1725	-0.62	-175.2	211.9	-13.5	223	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	2650	3682	0	0	0	0	0	0
1853	-0.60	-175.2	228.7	-12.7	235	1854	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	2649	3682	0	0	0	0	0	0
1980	-0.60	-175.2	245.4	-13.2	247	1983	0.00	1.83	0.00	0.000	4	0.000	0.071	2832	3764	3682	0	0	0	0	0	0
2005	-0.58	-175.2	249.4	-14.1	249	2016	0.12	1.77	0.00	0.000	6	0.136	0.048	2875	2651	3681	0	0	0	0	0	0
2140	-0.63	-175.2	263.5	-10.3	262	2141	0.00	0.00	0.00	0.000	6	0.000	0.000	2875	2650	3682	0	0	0	0	0	0
2331	-0.69	-175.2	282.7	-10.2	280	2334	0.00	1.85	0.00	0.000	4	0.000	0.071	2869	3769	3682	0	0	0	0	0	0
2377	-0.76	-175.2	287.6	-11.0	284	2381	0.10	1.80	0.00	0.000	6	0.059	0.048	2802	2647	3682	0	0	0	0	0	0
2579	-0.67	-175.2	318.1	-15.4	303	2581	0.15	0.00	0.00	0.000	6	0.174	0.000	2843	2645	3682	0	0	0	0	0	0
2770	-0.67	-175.2	341.9	-12.2	321	2774	0.00	1.88	0.00	0.000	4	0.000	0.072	2842	3764	3682	0	0	0	0	0	0
2815	-0.67	-175.2	347.4	-12.1	325	2818	0.00	1.75	0.00	0.000	6	0.000	0.048	2842	2640	3682	0	0	0	0	0	0
3018	-0.67	-175.2	372.2	-12.4	344	3019	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2638	3682	0	0	0	0	0	0
3210	-0.67	-175.2	395.8	-12.7	362	3213	0.00	1.85	0.00	0.000	4	0.000	0.071	2833	3773	3682	0	0	0	0	0	0
3265	-0.67	-175.2	403.2	-13.1	367	3269	0.00	1.75	0.00	0.000	6	0.000	0.050	2833	2652	3681	0	0	0	0	0	0
3468	-0.64	-175.2	429.3	-12.9	386	3469	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2650	3681	0	0	0	0	0	0
3641	end dive: TARGET_DEPTH_EXCEEDED
state	3641	begin apogee
3645	-0.17	0.0	451.0	12.5	402	3809	0.52	0.00	156.95	1.104	6	0.135	0.000	3004	2490	2960	0	0	0	0	0	0
3810	end apogee: CONTROL_FINISHED_OK
state	3810	begin climb
3811	0.84	175.2	457.9	0.0	417	3987	1.02	2.55	165.60	1.029	4	0.085	0.054	3339	1098	2246	0	0	0	0	0	0
4080	0.73	175.2	427.8	15.6	441	4085	0.15	2.45	0.00	0.000	6	0.163	0.057	3303	2500	2234	0	0	0	0	0	0
4277	0.62	175.2	398.5	14.5	459	4282	0.15	2.15	0.00	0.000	4	0.174	0.067	3265	3768	2229	0	0	0	0	0	0
4373	0.53	175.2	385.1	13.7	467	4377	0.12	2.05	0.00	0.000	6	0.174	0.047	3241	2508	2229	0	0	0	0	0	0
4576	0.62	230.3	364.9	9.5	486	4632	0.00	2.22	49.00	1.002	4	0.000	0.065	3241	3763	2021	0	0	0	0	0	0
4689	0.64	246.0	352.9	11.3	496	4712	0.00	2.10	15.50	0.942	6	0.000	0.047	3247	2494	1957	0	0	0	0	0	0
4905	0.73	277.9	330.3	10.5	516	4942	0.15	2.30	29.75	0.970	4	0.076	0.066	3315	3767	1826	0	0	0	0	0	0
4982	0.62	277.9	317.6	18.5	523	4987	0.22	2.12	0.00	0.000	6	0.153	0.049	3264	2498	1823	0	0	0	0	0	0
5185	0.66	281.6	292.8	11.8	542	5189	0.00	2.12	0.00	0.000	4	0.000	0.068	3264	3762	1817	0	0	0	0	0	0
5213	0.66	281.6	289.0	13.1	544	5217	0.00	2.05	0.00	0.000	6	0.000	0.048	3272	2496	1817	0	0	0	0	0	0
5410	0.68	281.6	265.1	12.1	562	5414	0.00	2.10	0.00	0.000	4	0.000	0.069	3272	3764	1815	0	0	0	0	0	0
5438	0.68	281.6	261.3	13.6	564	5442	0.00	2.03	0.00	0.000	6	0.000	0.050	3281	2499	1815	0	0	0	0	0	0
5642	0.68	281.6	235.5	12.8	583	5646	0.00	2.10	0.00	0.000	4	0.000	0.068	3281	3771	1814	0	0	0	0	0	0
5683	0.65	281.6	229.9	14.8	586	5687	0.00	2.03	0.00	0.000	6	0.000	0.047	3287	2495	1813	0	0	0	0	0	0
5825	0.65	281.6	211.4	13.1	599	5826	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	2493	1813	0	0	0	0	0	0
5951	0.65	281.6	194.8	12.9	611	5955	0.00	2.08	0.00	0.000	4	0.000	0.066	3288	3764	1813	0	0	0	0	0	0
5991	0.60	281.6	189.1	15.5	614	5995	0.12	2.00	0.00	0.000	6	0.167	0.049	3264	2499	1813	0	0	0	0	0	0
6126	0.67	297.0	173.1	11.3	626	6146	0.00	0.00	16.12	0.907	6	0.000	0.000	3264	2496	1749	0	0	0	0	0	0
6275	0.76	325.1	156.9	10.7	640	6313	0.12	2.25	26.30	0.903	4	0.086	0.067	3325	3769	1633	0	0	0	0	0	0
6349	0.67	325.1	144.6	19.1	646	6353	0.20	2.08	0.00	0.000	6	0.151	0.049	3280	2499	1631	0	0	0	0	0	0
6485	0.71	325.1	126.2	12.7	658	6493	0.00	0.00	0.00	0.000	6	0.000	0.000	3280	2496	1627	0	0	0	0	0	0
6620	0.76	325.1	108.7	13.0	671	6624	0.00	2.10	0.00	0.000	4	0.000	0.067	3280	3763	1624	0	0	0	0	0	0
6649	0.79	325.1	104.7	14.9	673	6653	0.00	2.03	0.00	0.000	6	0.000	0.048	3287	2498	1625	0	0	0	0	0	0
6786	0.82	325.1	85.4	14.1	695	6792	0.12	0.00	0.00	0.000	6	0.090	0.000	3344	2494	1624	0	0	0	0	0	0
6923	0.71	325.1	58.8	19.3	720	6932	0.17	2.12	0.00	0.000	4	0.161	0.067	3296	3765	1623	0	0	0	0	0	0
6960	0.67	325.1	51.8	18.3	726	6968	0.00	2.05	0.00	0.000	6	0.000	0.050	3304	2505	1623	0	0	0	0	0	0
7101	0.67	325.1	30.2	15.9	751	7107	0.00	0.00	0.00	0.000	6	0.000	0.000	3304	2503	1622	0	0	0	0	0	0
7239	0.67	325.1	9.8	14.1	776	7248	0.00	2.10	0.00	0.000	4	0.000	0.067	3304	3761	1621	0	0	0	0	0	0
7283	end climb: SURFACE_DEPTH_REACHED
state	7283	begin surface coast
7289	end surface coast: CONTROL_FINISHED_OK
state	7289	begin surface