Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 920 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 7 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 920 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 4 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 44 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 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 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 1 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 4 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 300 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 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 4 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 20 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -20696.209 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 AH0_24V 134.3 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 102.9 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 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 175 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2800 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043281103

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.009045 SEABIRD_T_H 0.00062152545

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.1491383e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0368557e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.162479

NAV_MODE 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1594115

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I 4.3937558e-05

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 102.9 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 250

AH0_24V 134.3 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 4

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 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 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 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 4 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.009045 T_DIVE 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 4

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 -20696.209

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 300

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0099999998 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 2800 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 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 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 175 R_PORT_OVSHOOT 44 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 920 NAV_MODE 2 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 300111,060007,-7607.866,17508.184,48,0.8,49,123.5 TGT_NAME CORNER_NW

_CALLS 2 TGT_LATLONG -7605.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300111,060956,-7607.904,17508.408,9,1.2,9,123.5 MHEAD_RNG_PITCHd_Wd 192.3,6554,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 458

Post-dive calculations and measurements:

FREEZE -0.12,0.127,-0.936,2,1,0 _24V_AH 21.3,97.291

FINISH -0.1,1.013845 _10V_AH 9.7,40.391

SM_CCo 8024,0.03,0.334,0,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 1.85,0.00,0.00,0.03,0.000,0.000,0.334,190,2745,1940,-8.16,-0.99,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7519.49,17503.76,300111,060640 MEM 258188

TT8_MAMPS 0.027713 DATA_FILE_SIZE 57064,859

HUMID 53.38 CAP_FILE_SIZE 110114,0

INTERNAL_PRESSURE 8.7601 CFSIZE 260165632,209330176

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 1 CURRENT 0.112,130.5,1

ALTIM_TOP_PING 20.0,20.6 GPS 300111,082537,-7607.393,17506.793,45,1.7,46,123.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 77.53 SBE_CT 602 24 307.81

Roll_motor 59 81 102.73 AA4330 1034 33 727.48

VBD_pump_during_apogee 385 1031 8463.66 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 0 333 0.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 120.21 nil 0 0 0.00

Iridium_during_connect 112 160 383.68 nil 0 0 0.00

Iridium_during_xfer 187 223 892.60 nil 0 0 0.00

Transponder_ping 1 420 15.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.00

TT8 2147 19 412.47

LPSleep 3808 2 80.90

TT8_Active 480 19 92.21

TT8_Sampling 1803 39 696.23

TT8_CF8 374 45 166.34

TT8_Kalman 0 0 0.00

Analog_circuits 1291 12 150.31

GPS_charging 0 0 0.00

Compass 1397 15 203.29

RAFOS 0 0 0.00

Transponder 11 30 3.26

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

17 -0.71 -170.3 0.0 0.0 0 94 0.00 0.00 -74.95 0.000 2 0.000 0.000 170 2745 3499 0 0 0 0 0 0

98 -0.71 -170.3 3.6 -6.2 13 119 9.12 2.20 -3.22 0.000 4 0.199 0.041 2563 1360 3658 0 0 0 0 0 0

372 -0.71 -170.3 51.1 -13.7 61 379 0.00 2.30 0.00 0.000 6 0.000 0.042 2552 2785 3661 0 0 0 0 0 0

514 -0.71 -170.3 71.3 -14.4 86 520 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2785 3662 0 0 0 0 0 0

658 -0.71 -170.3 91.5 -13.9 111 665 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2785 3662 0 0 0 0 0 0

797 -0.71 -170.3 110.7 -13.8 129 798 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2785 3663 0 0 0 0 0 0

925 -0.71 -170.3 129.4 -14.1 141 926 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2785 3663 0 0 0 0 0 0

1053 -0.71 -170.3 147.9 -14.3 153 1054 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2785 3663 0 0 0 0 0 0

1179 -0.71 -170.3 165.6 -13.4 165 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2785 3663 0 0 0 0 0 0

1306 -0.71 -170.3 182.6 -13.2 177 1310 0.00 1.60 0.00 0.000 4 0.000 0.048 2545 3751 3663 0 0 0 0 0 0

1345 -0.71 -170.3 188.2 -13.8 180 1352 0.00 1.55 0.00 0.000 6 0.000 0.028 2545 2767 3662 0 0 0 0 0 0

1481 -0.71 -170.3 206.4 -13.5 193 1482 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2767 3662 0 0 0 0 0 0

1608 -0.71 -170.3 224.3 -14.1 205 1612 0.00 1.62 0.00 0.000 4 0.000 0.047 2537 3767 3663 0 0 0 0 0 0

1647 -0.71 -170.3 230.6 -15.6 208 1655 0.08 1.55 0.00 0.000 6 0.132 0.028 2565 2783 3662 0 0 0 0 0 0

1783 -0.71 -170.3 247.4 -12.5 221 1784 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2783 3663 0 0 0 0 0 0

1909 -0.71 -170.3 263.1 -12.4 233 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2783 3662 0 0 0 0 0 0

2101 -0.71 -170.3 286.6 -12.8 251 2103 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2783 3663 0 0 0 0 0 0

2291 -0.71 -170.3 310.4 -12.2 269 2294 0.00 1.62 0.00 0.000 4 0.000 0.047 2557 3785 3663 0 0 0 0 0 0

2340 -0.71 -170.3 317.0 -12.2 273 2347 0.00 1.58 0.00 0.000 6 0.000 0.028 2557 2789 3662 0 0 0 0 0 0

2542 -0.71 -170.3 341.9 -12.3 292 2548 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2790 3662 0 0 0 0 0 0

2740 -0.71 -170.3 366.6 -12.4 311 2742 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2790 3662 0 0 0 0 0 0

2934 -0.71 -170.3 390.2 -12.3 329 2940 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2790 3662 0 0 0 0 0 0

3133 -0.71 -170.3 415.4 -12.3 348 3134 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2790 3661 0 0 0 0 0 0

3323 -0.71 -170.3 439.0 -12.4 366 3324 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2790 3662 0 0 0 0 0 0

3479 end dive: TARGET_DEPTH_EXCEEDED

state 3479 begin apogee

3488 -0.16 0.0 458.3 12.2 381 3635 0.55 0.00 142.25 1.031 4 0.115 0.000 2743 2684 2960 0 0 0 0 0 0

3635 end apogee: CONTROL_FINISHED_OK

state 3636 begin climb

3639 0.71 170.3 464.8 0.0 394 3805 0.85 2.33 156.77 0.978 4 0.071 0.033 3029 1312 2264 0 0 0 0 0 0

4004 0.73 186.9 440.3 9.3 426 4028 0.00 2.35 15.50 0.913 6 0.000 0.041 3029 2699 2198 0 0 0 0 0 0

4223 0.73 186.9 418.6 10.5 446 4227 0.00 2.25 0.00 0.000 4 0.000 0.034 3039 1313 2197 0 0 0 0 0 0

4379 0.73 186.9 402.4 10.5 459 4383 0.00 2.28 0.00 0.000 6 0.000 0.041 3039 2712 2196 0 0 0 0 0 0

4583 0.73 186.9 380.4 10.9 478 4586 0.00 1.70 0.00 0.000 4 0.000 0.047 3039 3761 2195 0 0 0 0 0 0

4653 0.73 186.9 372.0 12.5 484 4657 0.00 1.65 0.00 0.000 6 0.000 0.028 3047 2707 2194 0 0 0 0 0 0

4859 0.73 186.9 349.0 10.8 503 4865 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2706 2194 0 0 0 0 0 0

5058 0.73 186.9 327.1 11.1 522 5062 0.00 1.73 0.00 0.000 4 0.000 0.047 3047 3763 2193 0 0 0 0 0 0

5104 0.73 186.9 321.5 12.9 526 5107 0.00 1.65 0.00 0.000 6 0.000 0.029 3056 2707 2193 0 0 0 0 0 0

5308 0.73 186.9 298.2 11.3 545 5309 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2705 2192 0 0 0 0 0 0

5500 0.73 186.9 276.2 11.4 563 5503 0.00 1.73 0.00 0.000 4 0.000 0.048 3056 3764 2192 0 0 0 0 0 0

5580 0.73 186.9 265.6 13.7 570 5584 0.00 1.65 0.00 0.000 6 0.000 0.029 3065 2704 2191 0 0 0 0 0 0

5785 0.73 186.9 240.7 11.9 589 5789 0.00 1.73 0.00 0.000 4 0.000 0.048 3064 3763 2192 0 0 0 0 0 0

5823 0.73 186.9 235.3 13.5 592 5831 0.10 1.65 0.00 0.000 6 0.135 0.029 3026 2735 2192 0 0 0 0 0 0

5959 0.74 195.8 221.8 9.6 605 5969 0.00 0.00 8.43 0.839 6 0.000 0.000 3026 2735 2161 0 0 0 0 0 0

6097 0.75 201.4 208.6 9.8 618 6106 0.00 0.00 7.00 0.798 6 0.000 0.000 3026 2735 2138 0 0 0 0 0 0

6233 0.75 204.0 195.1 9.9 631 6243 0.00 0.00 4.12 0.651 6 0.000 0.000 3026 2734 2128 0 0 0 0 0 0

6371 0.76 210.9 181.6 9.7 644 6384 0.00 1.75 7.90 0.802 4 0.000 0.049 3026 3766 2100 0 0 1 0 0 0

6435 0.76 210.9 174.6 11.2 649 6442 0.00 1.62 0.00 0.000 6 0.000 0.029 3032 2737 2100 0 0 1 0 0 0

6570 0.77 213.9 161.0 9.9 662 6580 0.00 0.00 4.82 0.692 6 0.000 0.000 3032 2738 2086 0 0 0 0 0 0

6709 0.77 219.4 147.4 9.8 675 6718 0.00 0.00 6.65 0.760 6 0.000 0.000 3032 2738 2065 0 0 0 0 0 0

6846 0.79 232.4 134.2 9.5 688 6870 0.00 1.75 13.73 0.819 4 0.000 0.048 3032 3769 2012 0 0 1 0 0 0

6906 0.79 232.4 127.8 11.2 693 6910 0.00 1.62 0.00 0.000 6 0.000 0.030 3039 2745 2012 0 0 1 0 0 0

7047 0.79 237.5 114.1 9.8 706 7060 0.00 2.33 6.05 0.715 4 0.000 0.034 3050 1303 1993 0 0 0 0 0 0

7088 0.81 248.7 109.7 9.6 709 7106 0.00 2.35 12.10 0.786 6 0.000 0.043 3050 2750 1945 0 0 0 0 0 0

7238 0.81 248.7 93.5 11.2 728 7244 0.00 1.67 0.00 0.000 4 0.000 0.048 3050 3752 1946 0 0 0 0 0 0

7280 0.81 248.7 88.2 12.6 735 7288 0.00 1.62 0.00 0.000 6 0.000 0.030 3057 2745 1945 0 0 0 0 0 0

7426 0.81 248.7 71.8 10.9 760 7433 0.00 2.30 0.00 0.000 4 0.000 0.035 3067 1298 1946 0 0 0 0 0 0

7458 0.81 248.7 68.2 10.7 765 7465 0.00 2.33 0.00 0.000 6 0.000 0.042 3067 2735 1946 0 0 0 0 0 0

7604 0.81 248.7 50.9 12.5 790 7611 0.00 1.70 0.00 0.000 4 0.000 0.049 3067 3761 1945 0 0 0 0 0 0

7668 0.81 248.7 41.7 13.6 801 7675 0.00 1.62 0.00 0.000 6 0.000 0.030 3075 2746 1945 0 0 0 0 0 0

7813 0.81 248.7 23.4 12.9 826 7820 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2746 1945 0 0 0 0 0 0

7958 0.81 248.7 5.0 12.4 851 7965 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2746 1945 0 0 0 0 0 0

7977 end climb: SURFACE_DEPTH_REACHED

state 7978 begin surface coast

8005 end surface coast: CONTROL_FINISHED_OK

state 8005 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	7	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	920	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	4	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	44	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	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	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	1	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	4	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	300	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	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	4	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	20	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-20696.209	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	AH0_24V	134.3	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	102.9	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	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	175	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2800	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043281103
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.009045	SEABIRD_T_H	0.00062152545
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.1491383e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0368557e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.162479
NAV_MODE	2	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1594115
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	4.3937558e-05
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	300111,060007,-7607.866,17508.184,48,0.8,49,123.5	TGT_NAME	CORNER_NW
_CALLS	2	TGT_LATLONG	-7605.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300111,060956,-7607.904,17508.408,9,1.2,9,123.5	MHEAD_RNG_PITCHd_Wd	192.3,6554,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	458

FREEZE	-0.12,0.127,-0.936,2,1,0	_24V_AH	21.3,97.291
FINISH	-0.1,1.013845	_10V_AH	9.7,40.391
SM_CCo	8024,0.03,0.334,0,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	1.85,0.00,0.00,0.03,0.000,0.000,0.334,190,2745,1940,-8.16,-0.99,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7519.49,17503.76,300111,060640	MEM	258188
TT8_MAMPS	0.027713	DATA_FILE_SIZE	57064,859
HUMID	53.38	CAP_FILE_SIZE	110114,0
INTERNAL_PRESSURE	8.7601	CFSIZE	260165632,209330176
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	1	CURRENT	0.112,130.5,1
ALTIM_TOP_PING	20.0,20.6	GPS	300111,082537,-7607.393,17506.793,45,1.7,46,123.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	77.53	SBE_CT	602	24	307.81
Roll_motor	59	81	102.73	AA4330	1034	33	727.48
VBD_pump_during_apogee	385	1031	8463.66	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	0	333	0.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	120.21	nil	0	0	0.00
Iridium_during_connect	112	160	383.68	nil	0	0	0.00
Iridium_during_xfer	187	223	892.60	nil	0	0	0.00
Transponder_ping	1	420	15.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.00
TT8	2147	19	412.47
LPSleep	3808	2	80.90
TT8_Active	480	19	92.21
TT8_Sampling	1803	39	696.23
TT8_CF8	374	45	166.34
TT8_Kalman	0	0	0.00
Analog_circuits	1291	12	150.31
GPS_charging	0	0	0.00
Compass	1397	15	203.29
RAFOS	0	0	0.00
Transponder	11	30	3.26

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
17	-0.71	-170.3	0.0	0.0	0	94	0.00	0.00	-74.95	0.000	2	0.000	0.000	170	2745	3499	0	0	0	0	0	0
98	-0.71	-170.3	3.6	-6.2	13	119	9.12	2.20	-3.22	0.000	4	0.199	0.041	2563	1360	3658	0	0	0	0	0	0
372	-0.71	-170.3	51.1	-13.7	61	379	0.00	2.30	0.00	0.000	6	0.000	0.042	2552	2785	3661	0	0	0	0	0	0
514	-0.71	-170.3	71.3	-14.4	86	520	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2785	3662	0	0	0	0	0	0
658	-0.71	-170.3	91.5	-13.9	111	665	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2785	3662	0	0	0	0	0	0
797	-0.71	-170.3	110.7	-13.8	129	798	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2785	3663	0	0	0	0	0	0
925	-0.71	-170.3	129.4	-14.1	141	926	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2785	3663	0	0	0	0	0	0
1053	-0.71	-170.3	147.9	-14.3	153	1054	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2785	3663	0	0	0	0	0	0
1179	-0.71	-170.3	165.6	-13.4	165	1180	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2785	3663	0	0	0	0	0	0
1306	-0.71	-170.3	182.6	-13.2	177	1310	0.00	1.60	0.00	0.000	4	0.000	0.048	2545	3751	3663	0	0	0	0	0	0
1345	-0.71	-170.3	188.2	-13.8	180	1352	0.00	1.55	0.00	0.000	6	0.000	0.028	2545	2767	3662	0	0	0	0	0	0
1481	-0.71	-170.3	206.4	-13.5	193	1482	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2767	3662	0	0	0	0	0	0
1608	-0.71	-170.3	224.3	-14.1	205	1612	0.00	1.62	0.00	0.000	4	0.000	0.047	2537	3767	3663	0	0	0	0	0	0
1647	-0.71	-170.3	230.6	-15.6	208	1655	0.08	1.55	0.00	0.000	6	0.132	0.028	2565	2783	3662	0	0	0	0	0	0
1783	-0.71	-170.3	247.4	-12.5	221	1784	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2783	3663	0	0	0	0	0	0
1909	-0.71	-170.3	263.1	-12.4	233	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2783	3662	0	0	0	0	0	0
2101	-0.71	-170.3	286.6	-12.8	251	2103	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2783	3663	0	0	0	0	0	0
2291	-0.71	-170.3	310.4	-12.2	269	2294	0.00	1.62	0.00	0.000	4	0.000	0.047	2557	3785	3663	0	0	0	0	0	0
2340	-0.71	-170.3	317.0	-12.2	273	2347	0.00	1.58	0.00	0.000	6	0.000	0.028	2557	2789	3662	0	0	0	0	0	0
2542	-0.71	-170.3	341.9	-12.3	292	2548	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2790	3662	0	0	0	0	0	0
2740	-0.71	-170.3	366.6	-12.4	311	2742	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2790	3662	0	0	0	0	0	0
2934	-0.71	-170.3	390.2	-12.3	329	2940	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2790	3662	0	0	0	0	0	0
3133	-0.71	-170.3	415.4	-12.3	348	3134	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2790	3661	0	0	0	0	0	0
3323	-0.71	-170.3	439.0	-12.4	366	3324	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2790	3662	0	0	0	0	0	0
3479	end dive: TARGET_DEPTH_EXCEEDED
state	3479	begin apogee
3488	-0.16	0.0	458.3	12.2	381	3635	0.55	0.00	142.25	1.031	4	0.115	0.000	2743	2684	2960	0	0	0	0	0	0
3635	end apogee: CONTROL_FINISHED_OK
state	3636	begin climb
3639	0.71	170.3	464.8	0.0	394	3805	0.85	2.33	156.77	0.978	4	0.071	0.033	3029	1312	2264	0	0	0	0	0	0
4004	0.73	186.9	440.3	9.3	426	4028	0.00	2.35	15.50	0.913	6	0.000	0.041	3029	2699	2198	0	0	0	0	0	0
4223	0.73	186.9	418.6	10.5	446	4227	0.00	2.25	0.00	0.000	4	0.000	0.034	3039	1313	2197	0	0	0	0	0	0
4379	0.73	186.9	402.4	10.5	459	4383	0.00	2.28	0.00	0.000	6	0.000	0.041	3039	2712	2196	0	0	0	0	0	0
4583	0.73	186.9	380.4	10.9	478	4586	0.00	1.70	0.00	0.000	4	0.000	0.047	3039	3761	2195	0	0	0	0	0	0
4653	0.73	186.9	372.0	12.5	484	4657	0.00	1.65	0.00	0.000	6	0.000	0.028	3047	2707	2194	0	0	0	0	0	0
4859	0.73	186.9	349.0	10.8	503	4865	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2706	2194	0	0	0	0	0	0
5058	0.73	186.9	327.1	11.1	522	5062	0.00	1.73	0.00	0.000	4	0.000	0.047	3047	3763	2193	0	0	0	0	0	0
5104	0.73	186.9	321.5	12.9	526	5107	0.00	1.65	0.00	0.000	6	0.000	0.029	3056	2707	2193	0	0	0	0	0	0
5308	0.73	186.9	298.2	11.3	545	5309	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2705	2192	0	0	0	0	0	0
5500	0.73	186.9	276.2	11.4	563	5503	0.00	1.73	0.00	0.000	4	0.000	0.048	3056	3764	2192	0	0	0	0	0	0
5580	0.73	186.9	265.6	13.7	570	5584	0.00	1.65	0.00	0.000	6	0.000	0.029	3065	2704	2191	0	0	0	0	0	0
5785	0.73	186.9	240.7	11.9	589	5789	0.00	1.73	0.00	0.000	4	0.000	0.048	3064	3763	2192	0	0	0	0	0	0
5823	0.73	186.9	235.3	13.5	592	5831	0.10	1.65	0.00	0.000	6	0.135	0.029	3026	2735	2192	0	0	0	0	0	0
5959	0.74	195.8	221.8	9.6	605	5969	0.00	0.00	8.43	0.839	6	0.000	0.000	3026	2735	2161	0	0	0	0	0	0
6097	0.75	201.4	208.6	9.8	618	6106	0.00	0.00	7.00	0.798	6	0.000	0.000	3026	2735	2138	0	0	0	0	0	0
6233	0.75	204.0	195.1	9.9	631	6243	0.00	0.00	4.12	0.651	6	0.000	0.000	3026	2734	2128	0	0	0	0	0	0
6371	0.76	210.9	181.6	9.7	644	6384	0.00	1.75	7.90	0.802	4	0.000	0.049	3026	3766	2100	0	0	1	0	0	0
6435	0.76	210.9	174.6	11.2	649	6442	0.00	1.62	0.00	0.000	6	0.000	0.029	3032	2737	2100	0	0	1	0	0	0
6570	0.77	213.9	161.0	9.9	662	6580	0.00	0.00	4.82	0.692	6	0.000	0.000	3032	2738	2086	0	0	0	0	0	0
6709	0.77	219.4	147.4	9.8	675	6718	0.00	0.00	6.65	0.760	6	0.000	0.000	3032	2738	2065	0	0	0	0	0	0
6846	0.79	232.4	134.2	9.5	688	6870	0.00	1.75	13.73	0.819	4	0.000	0.048	3032	3769	2012	0	0	1	0	0	0
6906	0.79	232.4	127.8	11.2	693	6910	0.00	1.62	0.00	0.000	6	0.000	0.030	3039	2745	2012	0	0	1	0	0	0
7047	0.79	237.5	114.1	9.8	706	7060	0.00	2.33	6.05	0.715	4	0.000	0.034	3050	1303	1993	0	0	0	0	0	0
7088	0.81	248.7	109.7	9.6	709	7106	0.00	2.35	12.10	0.786	6	0.000	0.043	3050	2750	1945	0	0	0	0	0	0
7238	0.81	248.7	93.5	11.2	728	7244	0.00	1.67	0.00	0.000	4	0.000	0.048	3050	3752	1946	0	0	0	0	0	0
7280	0.81	248.7	88.2	12.6	735	7288	0.00	1.62	0.00	0.000	6	0.000	0.030	3057	2745	1945	0	0	0	0	0	0
7426	0.81	248.7	71.8	10.9	760	7433	0.00	2.30	0.00	0.000	4	0.000	0.035	3067	1298	1946	0	0	0	0	0	0
7458	0.81	248.7	68.2	10.7	765	7465	0.00	2.33	0.00	0.000	6	0.000	0.042	3067	2735	1946	0	0	0	0	0	0
7604	0.81	248.7	50.9	12.5	790	7611	0.00	1.70	0.00	0.000	4	0.000	0.049	3067	3761	1945	0	0	0	0	0	0
7668	0.81	248.7	41.7	13.6	801	7675	0.00	1.62	0.00	0.000	6	0.000	0.030	3075	2746	1945	0	0	0	0	0	0
7813	0.81	248.7	23.4	12.9	826	7820	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2746	1945	0	0	0	0	0	0
7958	0.81	248.7	5.0	12.4	851	7965	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2746	1945	0	0	0	0	0	0
7977	end climb: SURFACE_DEPTH_REACHED
state	7978	begin surface coast
8005	end surface coast: CONTROL_FINISHED_OK
state	8005	begin surface