Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 125 * 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 125 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 750 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 400 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 26 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 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 2 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 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 320 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 2 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 -26258.605 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.025 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 150 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 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 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 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 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 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 0 T_GPS 2

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 -26258.605

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 320

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.025 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 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 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 150 R_PORT_OVSHOOT 31 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 26 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 125 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 031210,191443,-7724.247,16508.014,11,1.3,12,144.2 TGT_NAME SOUND2

_CALLS 2 TGT_LATLONG -7723.000,16505.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.90 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031210,192624,-7724.160,16507.432,68,2.0,85,144.2 MHEAD_RNG_PITCHd_Wd 191.2,2363,-19.0,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 488

Post-dive calculations and measurements:

FREEZE 1.31,-1.881,-1.900,2,1,0 ALTIM_BOTTOM_PING 450.8,76.1

FINISH 1.3,1.027848 _24V_AH 21.2,32.040

SM_CCo 6466,132.50,0.752,1,0,1330,400.08 _10V_AH 9.8,18.543

SM_GC 1.90,0.00,0.00,132.50,0.000,0.000,0.752,426,2653,1330,-8.24,0.08,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16512.38,031210,191958 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029211 MEM 275984

HUMID 51.02 DATA_FILE_SIZE 47178,702

INTERNAL_PRESSURE 8.7308 CAP_FILE_SIZE 105601,0

TCM_TEMP 14.10 CFSIZE 260165632,245911552

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.9,18.2 GPS 031210,211806,-7723.354,16505.316,34,1.1,40,144.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 211 84.49 SBE_CT 493 24 251.04

Roll_motor 80 135 230.22 AA4330 836 33 584.99

VBD_pump_during_apogee 274 1124 6534.67 WL_BBFL2VMT 787 105 1753.45

VBD_pump_during_surface 132 751 2112.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 120.14 nil 0 0 0.00

Iridium_during_connect 79 160 270.08 nil 0 0 0.00

Iridium_during_xfer 318 223 1506.14 nil 0 0 0.00

Transponder_ping 2 420 22.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 86 50 42.50

TT8 1699 19 329.81

LPSleep 2770 2 59.47

TT8_Active 539 19 104.66

TT8_Sampling 2179 39 850.14

TT8_CF8 120 45 54.02

TT8_Kalman 0 0 0.00

Analog_circuits 1261 12 148.36

GPS_charging 0 0 0.00

Compass 1182 15 173.85

RAFOS 0 0 0.00

Transponder 14 30 4.15

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.79 -125.1 0.0 0.0 0 116 0.00 0.00 -98.07 0.000 2 0.000 0.000 408 2659 3118 0 0 0 0 0 0

119 -0.81 -146.0 3.1 -3.0 15 148 9.05 1.90 -13.52 0.000 4 0.211 0.082 2784 3763 3560 0 0 0 0 0 0

391 -0.81 -146.0 52.3 -19.3 64 399 0.00 1.80 0.00 0.000 6 0.000 0.045 2785 2640 3563 0 0 0 0 0 0

530 -0.81 -146.0 75.8 -17.4 89 537 0.00 1.85 0.00 0.000 4 0.000 0.064 2776 3766 3563 0 0 0 0 0 0

636 -0.81 -146.0 95.7 -18.5 108 644 0.00 1.77 0.00 0.000 6 0.000 0.044 2776 2658 3563 0 0 0 0 0 0

781 -0.81 -146.0 123.3 -19.2 123 788 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 2657 3563 0 0 0 0 0 0

915 -0.81 -146.0 149.6 -19.1 136 916 0.00 0.00 0.00 0.000 6 0.000 0.000 2776 2657 3563 0 0 0 0 0 0

1043 -0.81 -146.0 173.1 -18.1 148 1046 0.00 1.80 0.00 0.000 4 0.000 0.066 2768 3763 3563 0 0 0 0 0 0

1077 -0.81 -146.0 179.6 -18.8 151 1081 0.12 1.70 0.00 0.000 6 0.177 0.044 2799 2661 3563 0 0 0 0 0 0

1216 -0.81 -146.0 203.9 -17.3 164 1218 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2660 3563 0 0 0 0 0 0

1344 -0.81 -146.0 225.8 -16.9 176 1347 0.00 1.80 0.00 0.000 4 0.000 0.066 2793 3767 3563 0 0 0 0 0 0

1390 -0.81 -146.0 234.1 -18.9 180 1393 0.00 1.70 0.00 0.000 6 0.000 0.044 2793 2667 3563 0 0 0 0 0 0

1529 -0.81 -146.0 256.8 -16.1 193 1530 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2666 3564 0 0 0 0 0 0

1720 -0.81 -146.0 287.3 -15.7 211 1724 0.00 1.83 0.00 0.000 4 0.000 0.066 2784 3759 3563 0 0 0 0 0 0

1746 -0.81 -146.0 292.1 -16.8 213 1754 0.00 1.73 0.00 0.000 6 0.000 0.044 2784 2676 3563 0 0 0 0 0 0

1944 -0.81 -146.0 325.1 -17.8 232 1945 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 2675 3563 0 0 0 0 0 0

2135 -0.81 -146.0 356.8 -16.7 250 2139 0.00 1.77 0.00 0.000 4 0.000 0.066 2776 3767 3563 0 0 0 0 0 0

2150 -0.81 -146.0 359.9 -17.5 251 2158 0.00 1.75 0.00 0.000 6 0.000 0.044 2776 2668 3563 0 0 0 0 0 0

2349 -0.81 -146.0 395.4 -16.7 270 2352 0.00 1.77 0.00 0.000 4 0.000 0.065 2767 3764 3563 0 0 0 0 0 0

2433 -0.81 -146.0 411.9 -19.9 277 2440 0.12 1.70 0.00 0.000 6 0.174 0.044 2800 2666 3563 0 0 0 0 0 0

2630 -0.81 -146.0 442.7 -14.8 296 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2665 3563 0 0 0 0 0 0

2821 -0.81 -146.0 471.0 -14.9 314 2825 0.00 1.77 0.00 0.000 4 0.000 0.064 2792 3763 3563 0 0 0 0 0 0

2858 -0.81 -146.0 477.1 -15.6 317 2866 0.00 1.70 0.00 0.000 6 0.000 0.044 2793 2689 3563 0 0 0 0 0 0

2938 end dive: TARGET_DEPTH_EXCEEDED

state 2939 begin apogee

2943 -0.17 0.0 488.9 14.8 325 3085 0.65 0.00 131.65 1.125 4 0.137 0.000 3001 2496 2960 0 0 0 0 0 0

3086 end apogee: CONTROL_FINISHED_OK

state 3086 begin climb

3088 0.81 146.0 494.0 0.0 338 3241 1.02 2.53 142.45 1.057 4 0.076 0.051 3329 1092 2363 0 0 0 0 0 0

3357 0.81 146.0 466.2 13.0 362 3365 0.00 2.47 0.00 0.000 6 0.000 0.054 3330 2493 2352 0 0 0 0 0 0

3557 0.81 146.0 438.3 13.9 381 3561 0.00 2.28 0.00 0.000 4 0.000 0.051 3340 1098 2349 0 0 0 0 0 0

3686 0.81 146.0 421.1 13.0 392 3690 0.00 2.35 0.00 0.000 6 0.000 0.055 3340 2530 2346 0 0 0 0 0 0

3883 0.81 146.0 394.8 13.5 410 3887 0.00 1.98 0.00 0.000 4 0.000 0.060 3340 3762 2346 0 0 0 0 0 0

3984 0.81 146.0 378.7 16.6 419 3988 0.00 1.92 0.00 0.000 6 0.000 0.044 3349 2535 2345 0 0 0 0 0 0

4187 0.81 146.0 349.5 14.7 438 4190 0.00 1.98 0.00 0.000 4 0.000 0.059 3349 3762 2344 0 0 0 0 0 0

4247 0.81 146.0 339.0 19.5 443 4255 0.08 1.95 0.00 0.000 6 0.179 0.042 3336 2534 2344 0 0 0 0 0 0

4445 0.81 146.0 307.4 15.4 462 4449 0.00 1.98 0.00 0.000 4 0.000 0.060 3336 3762 2343 0 0 0 0 0 0

4467 0.81 146.0 303.4 17.3 464 4471 0.00 1.88 0.00 0.000 6 0.000 0.043 3344 2552 2343 0 0 0 0 0 0

4670 0.81 146.0 272.0 14.4 483 4674 0.00 1.98 0.00 0.000 4 0.000 0.063 3344 3767 2342 0 0 0 0 0 0

4714 0.81 146.0 265.0 15.4 487 4718 0.00 1.88 0.00 0.000 6 0.000 0.043 3352 2553 2342 0 0 0 0 0 0

4919 0.81 146.0 232.7 17.1 506 4922 0.00 1.98 0.00 0.000 4 0.000 0.063 3352 3771 2342 0 0 0 0 0 0

4965 0.81 146.0 224.5 16.7 510 4975 0.10 1.92 0.00 0.000 6 0.166 0.042 3331 2559 2342 0 0 0 0 0 0

5103 0.81 146.0 206.2 13.3 523 5107 0.00 1.95 0.00 0.000 4 0.000 0.062 3331 3764 2342 0 0 0 0 0 0

5159 0.81 146.0 198.4 14.2 528 5162 0.00 1.85 0.00 0.000 6 0.000 0.043 3338 2565 2341 0 0 0 0 0 0

5301 0.81 146.0 178.6 14.2 541 5304 0.00 1.92 0.00 0.000 4 0.000 0.061 3338 3763 2341 0 0 0 0 0 0

5347 0.81 146.0 170.7 14.7 545 5357 0.00 1.85 0.00 0.000 6 0.000 0.042 3347 2592 2341 0 0 0 0 0 0

5484 0.81 146.0 151.7 14.7 558 5485 0.00 0.00 0.00 0.000 6 0.000 0.000 3348 2591 2341 0 0 0 0 0 0

5611 0.81 146.0 131.1 16.0 570 5612 0.00 0.00 0.00 0.000 6 0.000 0.000 3347 2591 2341 0 0 0 0 0 0

5738 0.81 146.0 109.9 15.9 582 5742 0.00 1.90 0.00 0.000 4 0.000 0.063 3347 3764 2341 0 0 0 0 0 0

5805 0.81 146.0 97.2 19.7 589 5812 0.00 1.83 0.00 0.000 6 0.000 0.042 3356 2590 2341 0 0 0 0 0 0

5943 0.81 146.0 77.0 15.1 614 5951 0.00 1.92 0.00 0.000 4 0.000 0.062 3356 3756 2341 0 0 0 0 0 0

5963 0.81 146.0 73.5 16.7 617 5971 0.15 1.80 0.00 0.000 6 0.187 0.042 3326 2594 2341 0 0 0 0 0 0

6104 0.81 146.0 51.6 16.4 642 6112 0.00 1.92 0.00 0.000 4 0.000 0.064 3326 3755 2341 0 0 0 0 0 0

6140 0.81 146.0 45.4 15.7 648 6148 0.00 1.83 0.00 0.000 6 0.000 0.043 3333 2602 2341 0 0 0 0 0 0

6281 0.81 146.0 26.7 12.1 673 6288 0.00 1.88 0.00 0.000 4 0.000 0.059 3334 3764 2341 0 0 0 0 0 0

6377 0.81 146.0 11.5 17.6 690 6385 0.00 1.80 0.00 0.000 6 0.000 0.041 3342 2616 2341 0 0 0 0 0 0

6431 end climb: SURFACE_DEPTH_REACHED

state 6431 begin surface coast

6451 end surface coast: FINISH_DEPTH_REACHED

state 6451 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	125	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	750	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	400	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	26	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	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	2	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	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	320	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	2	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	-26258.605	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.025	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	150	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	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	031210,191443,-7724.247,16508.014,11,1.3,12,144.2	TGT_NAME	SOUND2
_CALLS	2	TGT_LATLONG	-7723.000,16505.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.90	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031210,192624,-7724.160,16507.432,68,2.0,85,144.2	MHEAD_RNG_PITCHd_Wd	191.2,2363,-19.0,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	488

FREEZE	1.31,-1.881,-1.900,2,1,0	ALTIM_BOTTOM_PING	450.8,76.1
FINISH	1.3,1.027848	_24V_AH	21.2,32.040
SM_CCo	6466,132.50,0.752,1,0,1330,400.08	_10V_AH	9.8,18.543
SM_GC	1.90,0.00,0.00,132.50,0.000,0.000,0.752,426,2653,1330,-8.24,0.08,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16512.38,031210,191958	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029211	MEM	275984
HUMID	51.02	DATA_FILE_SIZE	47178,702
INTERNAL_PRESSURE	8.7308	CAP_FILE_SIZE	105601,0
TCM_TEMP	14.10	CFSIZE	260165632,245911552
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.9,18.2	GPS	031210,211806,-7723.354,16505.316,34,1.1,40,144.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	211	84.49	SBE_CT	493	24	251.04
Roll_motor	80	135	230.22	AA4330	836	33	584.99
VBD_pump_during_apogee	274	1124	6534.67	WL_BBFL2VMT	787	105	1753.45
VBD_pump_during_surface	132	751	2112.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	120.14	nil	0	0	0.00
Iridium_during_connect	79	160	270.08	nil	0	0	0.00
Iridium_during_xfer	318	223	1506.14	nil	0	0	0.00
Transponder_ping	2	420	22.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	86	50	42.50
TT8	1699	19	329.81
LPSleep	2770	2	59.47
TT8_Active	539	19	104.66
TT8_Sampling	2179	39	850.14
TT8_CF8	120	45	54.02
TT8_Kalman	0	0	0.00
Analog_circuits	1261	12	148.36
GPS_charging	0	0	0.00
Compass	1182	15	173.85
RAFOS	0	0	0.00
Transponder	14	30	4.15

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.79	-125.1	0.0	0.0	0	116	0.00	0.00	-98.07	0.000	2	0.000	0.000	408	2659	3118	0	0	0	0	0	0
119	-0.81	-146.0	3.1	-3.0	15	148	9.05	1.90	-13.52	0.000	4	0.211	0.082	2784	3763	3560	0	0	0	0	0	0
391	-0.81	-146.0	52.3	-19.3	64	399	0.00	1.80	0.00	0.000	6	0.000	0.045	2785	2640	3563	0	0	0	0	0	0
530	-0.81	-146.0	75.8	-17.4	89	537	0.00	1.85	0.00	0.000	4	0.000	0.064	2776	3766	3563	0	0	0	0	0	0
636	-0.81	-146.0	95.7	-18.5	108	644	0.00	1.77	0.00	0.000	6	0.000	0.044	2776	2658	3563	0	0	0	0	0	0
781	-0.81	-146.0	123.3	-19.2	123	788	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	2657	3563	0	0	0	0	0	0
915	-0.81	-146.0	149.6	-19.1	136	916	0.00	0.00	0.00	0.000	6	0.000	0.000	2776	2657	3563	0	0	0	0	0	0
1043	-0.81	-146.0	173.1	-18.1	148	1046	0.00	1.80	0.00	0.000	4	0.000	0.066	2768	3763	3563	0	0	0	0	0	0
1077	-0.81	-146.0	179.6	-18.8	151	1081	0.12	1.70	0.00	0.000	6	0.177	0.044	2799	2661	3563	0	0	0	0	0	0
1216	-0.81	-146.0	203.9	-17.3	164	1218	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2660	3563	0	0	0	0	0	0
1344	-0.81	-146.0	225.8	-16.9	176	1347	0.00	1.80	0.00	0.000	4	0.000	0.066	2793	3767	3563	0	0	0	0	0	0
1390	-0.81	-146.0	234.1	-18.9	180	1393	0.00	1.70	0.00	0.000	6	0.000	0.044	2793	2667	3563	0	0	0	0	0	0
1529	-0.81	-146.0	256.8	-16.1	193	1530	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2666	3564	0	0	0	0	0	0
1720	-0.81	-146.0	287.3	-15.7	211	1724	0.00	1.83	0.00	0.000	4	0.000	0.066	2784	3759	3563	0	0	0	0	0	0
1746	-0.81	-146.0	292.1	-16.8	213	1754	0.00	1.73	0.00	0.000	6	0.000	0.044	2784	2676	3563	0	0	0	0	0	0
1944	-0.81	-146.0	325.1	-17.8	232	1945	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	2675	3563	0	0	0	0	0	0
2135	-0.81	-146.0	356.8	-16.7	250	2139	0.00	1.77	0.00	0.000	4	0.000	0.066	2776	3767	3563	0	0	0	0	0	0
2150	-0.81	-146.0	359.9	-17.5	251	2158	0.00	1.75	0.00	0.000	6	0.000	0.044	2776	2668	3563	0	0	0	0	0	0
2349	-0.81	-146.0	395.4	-16.7	270	2352	0.00	1.77	0.00	0.000	4	0.000	0.065	2767	3764	3563	0	0	0	0	0	0
2433	-0.81	-146.0	411.9	-19.9	277	2440	0.12	1.70	0.00	0.000	6	0.174	0.044	2800	2666	3563	0	0	0	0	0	0
2630	-0.81	-146.0	442.7	-14.8	296	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2665	3563	0	0	0	0	0	0
2821	-0.81	-146.0	471.0	-14.9	314	2825	0.00	1.77	0.00	0.000	4	0.000	0.064	2792	3763	3563	0	0	0	0	0	0
2858	-0.81	-146.0	477.1	-15.6	317	2866	0.00	1.70	0.00	0.000	6	0.000	0.044	2793	2689	3563	0	0	0	0	0	0
2938	end dive: TARGET_DEPTH_EXCEEDED
state	2939	begin apogee
2943	-0.17	0.0	488.9	14.8	325	3085	0.65	0.00	131.65	1.125	4	0.137	0.000	3001	2496	2960	0	0	0	0	0	0
3086	end apogee: CONTROL_FINISHED_OK
state	3086	begin climb
3088	0.81	146.0	494.0	0.0	338	3241	1.02	2.53	142.45	1.057	4	0.076	0.051	3329	1092	2363	0	0	0	0	0	0
3357	0.81	146.0	466.2	13.0	362	3365	0.00	2.47	0.00	0.000	6	0.000	0.054	3330	2493	2352	0	0	0	0	0	0
3557	0.81	146.0	438.3	13.9	381	3561	0.00	2.28	0.00	0.000	4	0.000	0.051	3340	1098	2349	0	0	0	0	0	0
3686	0.81	146.0	421.1	13.0	392	3690	0.00	2.35	0.00	0.000	6	0.000	0.055	3340	2530	2346	0	0	0	0	0	0
3883	0.81	146.0	394.8	13.5	410	3887	0.00	1.98	0.00	0.000	4	0.000	0.060	3340	3762	2346	0	0	0	0	0	0
3984	0.81	146.0	378.7	16.6	419	3988	0.00	1.92	0.00	0.000	6	0.000	0.044	3349	2535	2345	0	0	0	0	0	0
4187	0.81	146.0	349.5	14.7	438	4190	0.00	1.98	0.00	0.000	4	0.000	0.059	3349	3762	2344	0	0	0	0	0	0
4247	0.81	146.0	339.0	19.5	443	4255	0.08	1.95	0.00	0.000	6	0.179	0.042	3336	2534	2344	0	0	0	0	0	0
4445	0.81	146.0	307.4	15.4	462	4449	0.00	1.98	0.00	0.000	4	0.000	0.060	3336	3762	2343	0	0	0	0	0	0
4467	0.81	146.0	303.4	17.3	464	4471	0.00	1.88	0.00	0.000	6	0.000	0.043	3344	2552	2343	0	0	0	0	0	0
4670	0.81	146.0	272.0	14.4	483	4674	0.00	1.98	0.00	0.000	4	0.000	0.063	3344	3767	2342	0	0	0	0	0	0
4714	0.81	146.0	265.0	15.4	487	4718	0.00	1.88	0.00	0.000	6	0.000	0.043	3352	2553	2342	0	0	0	0	0	0
4919	0.81	146.0	232.7	17.1	506	4922	0.00	1.98	0.00	0.000	4	0.000	0.063	3352	3771	2342	0	0	0	0	0	0
4965	0.81	146.0	224.5	16.7	510	4975	0.10	1.92	0.00	0.000	6	0.166	0.042	3331	2559	2342	0	0	0	0	0	0
5103	0.81	146.0	206.2	13.3	523	5107	0.00	1.95	0.00	0.000	4	0.000	0.062	3331	3764	2342	0	0	0	0	0	0
5159	0.81	146.0	198.4	14.2	528	5162	0.00	1.85	0.00	0.000	6	0.000	0.043	3338	2565	2341	0	0	0	0	0	0
5301	0.81	146.0	178.6	14.2	541	5304	0.00	1.92	0.00	0.000	4	0.000	0.061	3338	3763	2341	0	0	0	0	0	0
5347	0.81	146.0	170.7	14.7	545	5357	0.00	1.85	0.00	0.000	6	0.000	0.042	3347	2592	2341	0	0	0	0	0	0
5484	0.81	146.0	151.7	14.7	558	5485	0.00	0.00	0.00	0.000	6	0.000	0.000	3348	2591	2341	0	0	0	0	0	0
5611	0.81	146.0	131.1	16.0	570	5612	0.00	0.00	0.00	0.000	6	0.000	0.000	3347	2591	2341	0	0	0	0	0	0
5738	0.81	146.0	109.9	15.9	582	5742	0.00	1.90	0.00	0.000	4	0.000	0.063	3347	3764	2341	0	0	0	0	0	0
5805	0.81	146.0	97.2	19.7	589	5812	0.00	1.83	0.00	0.000	6	0.000	0.042	3356	2590	2341	0	0	0	0	0	0
5943	0.81	146.0	77.0	15.1	614	5951	0.00	1.92	0.00	0.000	4	0.000	0.062	3356	3756	2341	0	0	0	0	0	0
5963	0.81	146.0	73.5	16.7	617	5971	0.15	1.80	0.00	0.000	6	0.187	0.042	3326	2594	2341	0	0	0	0	0	0
6104	0.81	146.0	51.6	16.4	642	6112	0.00	1.92	0.00	0.000	4	0.000	0.064	3326	3755	2341	0	0	0	0	0	0
6140	0.81	146.0	45.4	15.7	648	6148	0.00	1.83	0.00	0.000	6	0.000	0.043	3333	2602	2341	0	0	0	0	0	0
6281	0.81	146.0	26.7	12.1	673	6288	0.00	1.88	0.00	0.000	4	0.000	0.059	3334	3764	2341	0	0	0	0	0	0
6377	0.81	146.0	11.5	17.6	690	6385	0.00	1.80	0.00	0.000	6	0.000	0.041	3342	2616	2341	0	0	0	0	0	0
6431	end climb: SURFACE_DEPTH_REACHED
state	6431	begin surface coast
6451	end surface coast: FINISH_DEPTH_REACHED
state	6451	begin surface