Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 127 * 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 127 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 24 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 -26261.217 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 -26261.217

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 32 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 24 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 127 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 031210,231655,-7723.958,16505.855,12,1.4,29,144.2 TGT_NAME SOUND1

_CALLS 1 TGT_LATLONG -7728.000,16520.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031210,232324,-7723.935,16505.555,28,1.0,45,144.2 MHEAD_RNG_PITCHd_Wd 358.2,9507,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 496

Post-dive calculations and measurements:

FREEZE 1.17,-2.299,-0.285,2,1,0 ALTIM_BOTTOM_PING 450.7,36.4

FINISH 1.2,1.003909 _24V_AH 21.2,32.279

SM_CCo 6384,120.62,0.101,0,0,1330,400.08 _10V_AH 10.0,18.706

SM_GC 1.79,0.00,0.00,120.62,0.000,0.000,0.101,427,2642,1330,-8.25,-0.23,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16514.88,031210,212112 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 275956

HUMID 51.53 DATA_FILE_SIZE 47095,683

INTERNAL_PRESSURE 8.7308 CAP_FILE_SIZE 101155,0

TCM_TEMP 13.90 CFSIZE 260165632,245800960

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

ALTIM_TOP_PING 19.6,18.1 GPS 041210,011306,-7724.707,16508.715,9,2.0,19,144.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 211 84.15 SBE_CT 479 24 244.06

Roll_motor 90 67 128.87 AA4330 804 33 562.80

VBD_pump_during_apogee 274 1121 6526.40 WL_BBFL2VMT 751 105 1672.48

VBD_pump_during_surface 120 100 258.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 60.23 nil 0 0 0.00

Iridium_during_connect 37 160 125.97 nil 0 0 0.00

Iridium_during_xfer 202 223 959.28 nil 0 0 0.00

Transponder_ping 2 420 24.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 46 50 23.33

TT8 1659 19 328.60

LPSleep 2713 2 59.42

TT8_Active 529 19 104.93

TT8_Sampling 1871 39 744.80

TT8_CF8 126 45 58.15

TT8_Kalman 0 0 0.00

Analog_circuits 1240 12 148.81

GPS_charging 0 0 0.00

Compass 1135 15 170.33

RAFOS 0 0 0.00

Transponder 16 30 5.08

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 -0.76 -146.0 0.0 0.0 0 122 0.00 0.00 -103.82 0.000 2 0.000 0.000 411 2657 3235 0 0 0 0 0 0

124 -0.76 -146.0 3.1 -1.9 16 152 9.12 2.33 -10.48 0.000 4 0.211 0.067 2810 1243 3560 0 0 0 0 0 0

196 -0.76 -146.0 15.6 -17.0 28 204 0.00 2.38 0.00 0.000 6 0.000 0.059 2802 2650 3562 0 0 0 0 0 0

336 -0.76 -146.0 44.1 -21.6 53 342 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2649 3563 0 0 0 0 0 0

473 -0.76 -146.0 74.6 -22.9 78 480 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2650 3563 0 0 0 0 0 0

619 -0.76 -146.0 104.9 -18.9 102 623 0.00 1.83 0.00 0.000 4 0.000 0.064 2793 3771 3563 0 0 0 0 0 0

642 -0.76 -146.0 110.1 -19.9 104 646 0.00 1.75 0.00 0.000 6 0.000 0.045 2793 2650 3563 0 0 0 0 0 0

783 -0.76 -146.0 145.4 -24.5 117 787 0.00 1.83 0.00 0.000 4 0.000 0.067 2785 3763 3563 0 0 0 0 0 0

828 -0.76 -146.0 156.9 -25.6 121 832 0.12 1.73 0.00 0.000 6 0.181 0.044 2816 2653 3563 0 0 0 0 0 0

968 -0.76 -146.0 183.9 -18.1 134 972 0.00 2.22 0.00 0.000 4 0.000 0.054 2817 1242 3563 0 0 0 0 0 0

1007 -0.76 -146.0 191.0 -17.7 137 1011 0.00 2.30 0.00 0.000 6 0.000 0.058 2808 2658 3563 0 0 0 0 0 0

1143 -0.76 -146.0 218.8 -20.8 149 1147 0.00 1.77 0.00 0.000 4 0.000 0.063 2799 3771 3563 0 0 0 0 0 0

1179 -0.76 -146.0 226.2 -17.1 152 1189 0.00 1.77 0.00 0.000 6 0.000 0.044 2799 2656 3563 0 0 0 0 0 0

1316 -0.76 -146.0 250.4 -17.2 165 1320 0.00 2.22 0.00 0.000 4 0.000 0.054 2799 1236 3563 0 0 0 0 0 0

1348 -0.76 -146.0 257.0 -17.9 167 1356 0.00 2.35 0.00 0.000 6 0.000 0.060 2789 2650 3563 0 0 0 0 0 0

1548 -0.76 -146.0 287.8 -14.0 186 1552 0.00 1.80 0.00 0.000 4 0.000 0.063 2782 3767 3563 0 0 0 0 0 0

1563 -0.76 -146.0 290.5 -14.2 187 1572 0.10 1.77 0.00 0.000 6 0.151 0.043 2814 2642 3563 0 0 0 0 0 0

1762 -0.76 -146.0 316.9 -13.6 206 1763 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2643 3563 0 0 0 0 0 0

1953 -0.76 -146.0 343.4 -14.5 224 1956 0.00 1.83 0.00 0.000 4 0.000 0.065 2807 3771 3563 0 0 0 0 0 0

2009 -0.76 -146.0 351.8 -14.2 229 2013 0.00 1.73 0.00 0.000 6 0.000 0.044 2806 2656 3563 0 0 0 0 0 0

2211 -0.76 -146.0 379.0 -13.2 248 2215 0.00 1.80 0.00 0.000 4 0.000 0.066 2798 3763 3563 0 0 0 0 0 0

2249 -0.76 -146.0 384.3 -13.5 251 2257 0.00 1.75 0.00 0.000 6 0.000 0.044 2798 2665 3563 0 0 0 0 0 0

2447 -0.76 -146.0 412.6 -15.3 270 2448 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2664 3563 0 0 0 0 0 0

2638 -0.76 -146.0 440.2 -14.2 288 2642 0.00 1.77 0.00 0.000 4 0.000 0.064 2790 3764 3563 0 0 0 0 0 0

2676 -0.76 -146.0 446.4 -16.6 291 2683 0.00 1.73 0.00 0.000 6 0.000 0.044 2790 2675 3563 0 0 0 0 0 0

2843 end dive: BOTTOM_OBSTACLE_DETECTED

state 2843 begin apogee

2847 -0.17 0.0 473.8 16.8 307 2989 0.68 0.00 131.57 1.121 4 0.138 0.000 3005 2494 2960 0 0 0 0 0 0

2990 end apogee: CONTROL_FINISHED_OK

state 2990 begin climb

2991 0.76 146.0 481.4 0.0 320 3144 0.90 0.00 142.93 1.054 6 0.079 0.000 3301 2494 2364 0 0 0 0 0 0

3336 0.76 146.0 451.1 12.3 352 3339 0.00 2.17 0.00 0.000 4 0.000 0.060 3301 3764 2351 0 0 0 0 0 0

3397 0.76 146.0 441.8 14.8 357 3401 0.00 2.05 0.00 0.000 6 0.000 0.043 3310 2505 2350 0 0 0 0 0 0

3596 0.76 146.0 414.9 14.0 375 3600 0.00 2.10 0.00 0.000 4 0.000 0.061 3311 3774 2347 0 0 0 0 0 0

3671 0.76 146.0 403.0 15.9 381 3675 0.00 1.98 0.00 0.000 6 0.000 0.044 3320 2526 2346 0 0 0 0 0 0

3874 0.76 146.0 374.6 14.2 400 3877 0.00 2.03 0.00 0.000 4 0.000 0.060 3320 3771 2345 0 0 0 0 0 0

3923 0.76 146.0 366.2 17.8 404 3931 0.00 1.98 0.00 0.000 6 0.000 0.043 3328 2542 2345 0 0 0 0 0 0

4121 0.76 146.0 336.8 14.5 423 4125 0.00 2.00 0.00 0.000 4 0.000 0.062 3328 3773 2344 0 0 0 0 0 0

4181 0.76 146.0 326.1 17.7 428 4189 0.00 1.95 0.00 0.000 6 0.000 0.042 3337 2554 2343 0 0 0 0 0 0

4379 0.76 146.0 294.1 16.4 447 4383 0.00 1.98 0.00 0.000 4 0.000 0.061 3337 3775 2343 0 0 0 0 0 0

4424 0.76 146.0 286.1 18.4 451 4429 0.12 1.90 0.00 0.000 6 0.179 0.043 3315 2554 2343 0 0 0 0 0 0

4627 0.76 146.0 257.0 13.7 470 4631 0.00 1.95 0.00 0.000 4 0.000 0.061 3315 3764 2342 0 0 0 0 0 0

4655 0.76 146.0 252.7 15.0 472 4662 0.00 1.88 0.00 0.000 6 0.000 0.043 3322 2561 2342 0 0 0 0 0 0

4855 0.76 146.0 223.1 15.5 491 4859 0.00 1.95 0.00 0.000 4 0.000 0.061 3322 3768 2342 0 0 0 0 0 0

4878 0.76 146.0 219.1 15.9 493 4882 0.00 1.85 0.00 0.000 6 0.000 0.043 3331 2574 2342 0 0 0 0 0 0

5019 0.76 146.0 196.9 15.8 506 5022 0.00 1.92 0.00 0.000 4 0.000 0.062 3331 3765 2342 0 0 0 0 0 0

5053 0.76 146.0 191.5 16.9 509 5057 0.00 1.83 0.00 0.000 6 0.000 0.043 3341 2585 2342 0 0 0 0 0 0

5195 0.76 146.0 170.5 14.7 522 5196 0.00 0.00 0.00 0.000 6 0.000 0.000 3341 2583 2341 0 0 0 0 0 0

5320 0.76 146.0 152.1 14.1 534 5324 0.00 1.90 0.00 0.000 4 0.000 0.061 3341 3764 2342 0 0 0 0 0 0

5344 0.76 146.0 148.4 15.3 536 5348 0.15 1.83 0.00 0.000 6 0.171 0.041 3309 2578 2341 0 0 0 0 0 0

5484 0.76 146.0 130.2 12.7 549 5485 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2576 2341 0 0 0 0 0 0

5610 0.76 146.0 114.7 12.2 561 5611 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2576 2341 0 0 0 0 0 0

5738 0.76 146.0 99.1 11.9 573 5745 0.00 1.95 0.00 0.000 4 0.000 0.062 3309 3776 2341 0 0 0 0 0 0

5767 0.76 146.0 94.8 15.1 578 5775 0.00 1.88 0.00 0.000 6 0.000 0.043 3317 2593 2340 0 0 0 0 0 0

5908 0.76 146.0 73.2 17.4 603 5915 0.00 1.90 0.00 0.000 4 0.000 0.062 3317 3765 2341 0 0 0 0 0 0

5937 0.76 146.0 67.8 18.7 608 5945 0.00 1.83 0.00 0.000 6 0.000 0.043 3326 2611 2340 0 0 0 0 0 0

6077 0.76 146.0 44.2 17.8 633 6084 0.00 1.88 0.00 0.000 4 0.000 0.063 3326 3768 2341 0 0 0 0 0 0

6103 0.76 146.0 39.6 17.5 637 6109 0.00 1.80 0.00 0.000 6 0.000 0.043 3335 2610 2341 0 0 0 0 0 0

6243 0.76 146.0 19.6 10.2 662 6251 0.00 2.45 0.00 0.000 4 0.000 0.057 3346 1088 2340 0 0 0 0 0 0

6264 0.76 146.0 16.9 11.0 665 6271 0.12 2.50 0.00 0.000 6 0.168 0.056 3313 2640 2340 0 0 0 0 0 0

6350 end climb: SURFACE_DEPTH_REACHED

state 6350 begin surface coast

6370 end surface coast: FINISH_DEPTH_REACHED

state 6370 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	127	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	24	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	-26261.217	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	031210,231655,-7723.958,16505.855,12,1.4,29,144.2	TGT_NAME	SOUND1
_CALLS	1	TGT_LATLONG	-7728.000,16520.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031210,232324,-7723.935,16505.555,28,1.0,45,144.2	MHEAD_RNG_PITCHd_Wd	358.2,9507,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	496

FREEZE	1.17,-2.299,-0.285,2,1,0	ALTIM_BOTTOM_PING	450.7,36.4
FINISH	1.2,1.003909	_24V_AH	21.2,32.279
SM_CCo	6384,120.62,0.101,0,0,1330,400.08	_10V_AH	10.0,18.706
SM_GC	1.79,0.00,0.00,120.62,0.000,0.000,0.101,427,2642,1330,-8.25,-0.23,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16514.88,031210,212112	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	275956
HUMID	51.53	DATA_FILE_SIZE	47095,683
INTERNAL_PRESSURE	8.7308	CAP_FILE_SIZE	101155,0
TCM_TEMP	13.90	CFSIZE	260165632,245800960
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.6,18.1	GPS	041210,011306,-7724.707,16508.715,9,2.0,19,144.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	211	84.15	SBE_CT	479	24	244.06
Roll_motor	90	67	128.87	AA4330	804	33	562.80
VBD_pump_during_apogee	274	1121	6526.40	WL_BBFL2VMT	751	105	1672.48
VBD_pump_during_surface	120	100	258.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	60.23	nil	0	0	0.00
Iridium_during_connect	37	160	125.97	nil	0	0	0.00
Iridium_during_xfer	202	223	959.28	nil	0	0	0.00
Transponder_ping	2	420	24.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	46	50	23.33
TT8	1659	19	328.60
LPSleep	2713	2	59.42
TT8_Active	529	19	104.93
TT8_Sampling	1871	39	744.80
TT8_CF8	126	45	58.15
TT8_Kalman	0	0	0.00
Analog_circuits	1240	12	148.81
GPS_charging	0	0	0.00
Compass	1135	15	170.33
RAFOS	0	0	0.00
Transponder	16	30	5.08

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	-0.76	-146.0	0.0	0.0	0	122	0.00	0.00	-103.82	0.000	2	0.000	0.000	411	2657	3235	0	0	0	0	0	0
124	-0.76	-146.0	3.1	-1.9	16	152	9.12	2.33	-10.48	0.000	4	0.211	0.067	2810	1243	3560	0	0	0	0	0	0
196	-0.76	-146.0	15.6	-17.0	28	204	0.00	2.38	0.00	0.000	6	0.000	0.059	2802	2650	3562	0	0	0	0	0	0
336	-0.76	-146.0	44.1	-21.6	53	342	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2649	3563	0	0	0	0	0	0
473	-0.76	-146.0	74.6	-22.9	78	480	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	2650	3563	0	0	0	0	0	0
619	-0.76	-146.0	104.9	-18.9	102	623	0.00	1.83	0.00	0.000	4	0.000	0.064	2793	3771	3563	0	0	0	0	0	0
642	-0.76	-146.0	110.1	-19.9	104	646	0.00	1.75	0.00	0.000	6	0.000	0.045	2793	2650	3563	0	0	0	0	0	0
783	-0.76	-146.0	145.4	-24.5	117	787	0.00	1.83	0.00	0.000	4	0.000	0.067	2785	3763	3563	0	0	0	0	0	0
828	-0.76	-146.0	156.9	-25.6	121	832	0.12	1.73	0.00	0.000	6	0.181	0.044	2816	2653	3563	0	0	0	0	0	0
968	-0.76	-146.0	183.9	-18.1	134	972	0.00	2.22	0.00	0.000	4	0.000	0.054	2817	1242	3563	0	0	0	0	0	0
1007	-0.76	-146.0	191.0	-17.7	137	1011	0.00	2.30	0.00	0.000	6	0.000	0.058	2808	2658	3563	0	0	0	0	0	0
1143	-0.76	-146.0	218.8	-20.8	149	1147	0.00	1.77	0.00	0.000	4	0.000	0.063	2799	3771	3563	0	0	0	0	0	0
1179	-0.76	-146.0	226.2	-17.1	152	1189	0.00	1.77	0.00	0.000	6	0.000	0.044	2799	2656	3563	0	0	0	0	0	0
1316	-0.76	-146.0	250.4	-17.2	165	1320	0.00	2.22	0.00	0.000	4	0.000	0.054	2799	1236	3563	0	0	0	0	0	0
1348	-0.76	-146.0	257.0	-17.9	167	1356	0.00	2.35	0.00	0.000	6	0.000	0.060	2789	2650	3563	0	0	0	0	0	0
1548	-0.76	-146.0	287.8	-14.0	186	1552	0.00	1.80	0.00	0.000	4	0.000	0.063	2782	3767	3563	0	0	0	0	0	0
1563	-0.76	-146.0	290.5	-14.2	187	1572	0.10	1.77	0.00	0.000	6	0.151	0.043	2814	2642	3563	0	0	0	0	0	0
1762	-0.76	-146.0	316.9	-13.6	206	1763	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2643	3563	0	0	0	0	0	0
1953	-0.76	-146.0	343.4	-14.5	224	1956	0.00	1.83	0.00	0.000	4	0.000	0.065	2807	3771	3563	0	0	0	0	0	0
2009	-0.76	-146.0	351.8	-14.2	229	2013	0.00	1.73	0.00	0.000	6	0.000	0.044	2806	2656	3563	0	0	0	0	0	0
2211	-0.76	-146.0	379.0	-13.2	248	2215	0.00	1.80	0.00	0.000	4	0.000	0.066	2798	3763	3563	0	0	0	0	0	0
2249	-0.76	-146.0	384.3	-13.5	251	2257	0.00	1.75	0.00	0.000	6	0.000	0.044	2798	2665	3563	0	0	0	0	0	0
2447	-0.76	-146.0	412.6	-15.3	270	2448	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2664	3563	0	0	0	0	0	0
2638	-0.76	-146.0	440.2	-14.2	288	2642	0.00	1.77	0.00	0.000	4	0.000	0.064	2790	3764	3563	0	0	0	0	0	0
2676	-0.76	-146.0	446.4	-16.6	291	2683	0.00	1.73	0.00	0.000	6	0.000	0.044	2790	2675	3563	0	0	0	0	0	0
2843	end dive: BOTTOM_OBSTACLE_DETECTED
state	2843	begin apogee
2847	-0.17	0.0	473.8	16.8	307	2989	0.68	0.00	131.57	1.121	4	0.138	0.000	3005	2494	2960	0	0	0	0	0	0
2990	end apogee: CONTROL_FINISHED_OK
state	2990	begin climb
2991	0.76	146.0	481.4	0.0	320	3144	0.90	0.00	142.93	1.054	6	0.079	0.000	3301	2494	2364	0	0	0	0	0	0
3336	0.76	146.0	451.1	12.3	352	3339	0.00	2.17	0.00	0.000	4	0.000	0.060	3301	3764	2351	0	0	0	0	0	0
3397	0.76	146.0	441.8	14.8	357	3401	0.00	2.05	0.00	0.000	6	0.000	0.043	3310	2505	2350	0	0	0	0	0	0
3596	0.76	146.0	414.9	14.0	375	3600	0.00	2.10	0.00	0.000	4	0.000	0.061	3311	3774	2347	0	0	0	0	0	0
3671	0.76	146.0	403.0	15.9	381	3675	0.00	1.98	0.00	0.000	6	0.000	0.044	3320	2526	2346	0	0	0	0	0	0
3874	0.76	146.0	374.6	14.2	400	3877	0.00	2.03	0.00	0.000	4	0.000	0.060	3320	3771	2345	0	0	0	0	0	0
3923	0.76	146.0	366.2	17.8	404	3931	0.00	1.98	0.00	0.000	6	0.000	0.043	3328	2542	2345	0	0	0	0	0	0
4121	0.76	146.0	336.8	14.5	423	4125	0.00	2.00	0.00	0.000	4	0.000	0.062	3328	3773	2344	0	0	0	0	0	0
4181	0.76	146.0	326.1	17.7	428	4189	0.00	1.95	0.00	0.000	6	0.000	0.042	3337	2554	2343	0	0	0	0	0	0
4379	0.76	146.0	294.1	16.4	447	4383	0.00	1.98	0.00	0.000	4	0.000	0.061	3337	3775	2343	0	0	0	0	0	0
4424	0.76	146.0	286.1	18.4	451	4429	0.12	1.90	0.00	0.000	6	0.179	0.043	3315	2554	2343	0	0	0	0	0	0
4627	0.76	146.0	257.0	13.7	470	4631	0.00	1.95	0.00	0.000	4	0.000	0.061	3315	3764	2342	0	0	0	0	0	0
4655	0.76	146.0	252.7	15.0	472	4662	0.00	1.88	0.00	0.000	6	0.000	0.043	3322	2561	2342	0	0	0	0	0	0
4855	0.76	146.0	223.1	15.5	491	4859	0.00	1.95	0.00	0.000	4	0.000	0.061	3322	3768	2342	0	0	0	0	0	0
4878	0.76	146.0	219.1	15.9	493	4882	0.00	1.85	0.00	0.000	6	0.000	0.043	3331	2574	2342	0	0	0	0	0	0
5019	0.76	146.0	196.9	15.8	506	5022	0.00	1.92	0.00	0.000	4	0.000	0.062	3331	3765	2342	0	0	0	0	0	0
5053	0.76	146.0	191.5	16.9	509	5057	0.00	1.83	0.00	0.000	6	0.000	0.043	3341	2585	2342	0	0	0	0	0	0
5195	0.76	146.0	170.5	14.7	522	5196	0.00	0.00	0.00	0.000	6	0.000	0.000	3341	2583	2341	0	0	0	0	0	0
5320	0.76	146.0	152.1	14.1	534	5324	0.00	1.90	0.00	0.000	4	0.000	0.061	3341	3764	2342	0	0	0	0	0	0
5344	0.76	146.0	148.4	15.3	536	5348	0.15	1.83	0.00	0.000	6	0.171	0.041	3309	2578	2341	0	0	0	0	0	0
5484	0.76	146.0	130.2	12.7	549	5485	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2576	2341	0	0	0	0	0	0
5610	0.76	146.0	114.7	12.2	561	5611	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2576	2341	0	0	0	0	0	0
5738	0.76	146.0	99.1	11.9	573	5745	0.00	1.95	0.00	0.000	4	0.000	0.062	3309	3776	2341	0	0	0	0	0	0
5767	0.76	146.0	94.8	15.1	578	5775	0.00	1.88	0.00	0.000	6	0.000	0.043	3317	2593	2340	0	0	0	0	0	0
5908	0.76	146.0	73.2	17.4	603	5915	0.00	1.90	0.00	0.000	4	0.000	0.062	3317	3765	2341	0	0	0	0	0	0
5937	0.76	146.0	67.8	18.7	608	5945	0.00	1.83	0.00	0.000	6	0.000	0.043	3326	2611	2340	0	0	0	0	0	0
6077	0.76	146.0	44.2	17.8	633	6084	0.00	1.88	0.00	0.000	4	0.000	0.063	3326	3768	2341	0	0	0	0	0	0
6103	0.76	146.0	39.6	17.5	637	6109	0.00	1.80	0.00	0.000	6	0.000	0.043	3335	2610	2341	0	0	0	0	0	0
6243	0.76	146.0	19.6	10.2	662	6251	0.00	2.45	0.00	0.000	4	0.000	0.057	3346	1088	2340	0	0	0	0	0	0
6264	0.76	146.0	16.9	11.0	665	6271	0.12	2.50	0.00	0.000	6	0.168	0.056	3313	2640	2340	0	0	0	0	0	0
6350	end climb: SURFACE_DEPTH_REACHED
state	6350	begin surface coast
6370	end surface coast: FINISH_DEPTH_REACHED
state	6370	begin surface