Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 133 * 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 133 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 40 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 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 -26267.596 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 -26267.596

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 40 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 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 133 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 041210,112120,-7727.140,16511.088,33,1.9,33,144.3 TGT_NAME SOUND2

_CALLS 1 TGT_LATLONG -7723.000,16505.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041210,112120,-7727.140,16511.088,33,1.9,33,144.3 MHEAD_RNG_PITCHd_Wd 197.9,8052,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 559

Post-dive calculations and measurements:

FREEZE 1.24,-1.863,-1.902,2,2,0 ALTIM_BOTTOM_PING 451.0,37.5

FINISH 1.2,1.027882 _24V_AH 21.2,33.088

SM_CCo 6747,135.95,0.772,1,0,1329,400.08 _10V_AH 10.0,19.254

SM_GC 2.02,0.00,0.00,135.95,0.000,0.000,0.772,422,2643,1329,-8.25,-0.17,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16519.42,041210,080834 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 275996

HUMID 51.26 DATA_FILE_SIZE 50461,733

INTERNAL_PRESSURE 8.7308 CAP_FILE_SIZE 97664,0

TCM_TEMP 13.90 CFSIZE 260165632,245432320

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

ALTIM_TOP_PING 19.7,17.9 GPS 041210,112120,-7727.140,16511.088,121,99.0,121,144.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 195 43.01 SBE_CT 516 24 262.90

Roll_motor 93 65 128.82 AA4330 879 33 615.31

VBD_pump_during_apogee 275 1128 6593.98 WL_BBFL2VMT 852 105 1897.27

VBD_pump_during_surface 135 771 2224.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 22.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1802 19 356.86

LPSleep 2829 2 61.96

TT8_Active 506 19 100.21

TT8_Sampling 1698 39 676.10

TT8_CF8 105 45 48.48

TT8_Kalman 0 0 0.00

Analog_circuits 1244 12 149.28

GPS_charging 0 0 0.00

Compass 1235 15 185.34

RAFOS 0 0 0.00

Transponder 14 30 4.20

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.76 -146.0 0.0 0.0 0 25 0.00 0.00 -8.38 0.000 2 0.000 0.000 3066 3761 3260 0 0 0 0 0 0

27 -0.76 -146.0 4.4 -0.0 1 48 0.68 4.05 -10.62 0.000 4 0.081 0.056 2816 1247 3562 0 0 0 0 0 0

59 -0.76 -146.0 7.5 -10.2 6 67 0.00 2.33 0.00 0.000 6 0.000 0.062 2806 2648 3563 0 0 0 0 0 0

199 -0.76 -146.0 26.6 -13.7 31 205 0.00 1.80 0.00 0.000 4 0.000 0.064 2797 3767 3564 0 0 0 0 0 0

290 -0.76 -146.0 41.6 -17.2 47 297 0.00 1.75 0.00 0.000 6 0.000 0.045 2798 2672 3565 0 0 0 0 0 0

426 -0.76 -146.0 63.8 -18.6 72 434 0.00 2.30 0.00 0.000 4 0.000 0.054 2798 1240 3565 0 0 0 0 0 0

494 -0.76 -146.0 78.2 -23.0 84 503 0.08 2.35 0.00 0.000 6 0.147 0.060 2812 2661 3565 0 0 0 0 0 0

635 -0.76 -146.0 104.2 -17.2 107 639 0.00 1.75 0.00 0.000 4 0.000 0.063 2805 3763 3564 0 0 0 0 0 0

702 -0.76 -146.0 116.7 -15.1 113 706 0.00 1.70 0.00 0.000 6 0.000 0.044 2805 2666 3565 0 0 0 0 0 0

843 -0.76 -146.0 136.5 -11.5 126 846 0.00 1.80 0.00 0.000 4 0.000 0.065 2798 3773 3565 0 0 0 0 0 0

888 -0.76 -146.0 143.7 -16.5 130 892 0.00 1.70 0.00 0.000 6 0.000 0.044 2798 2680 3565 0 0 0 0 0 0

1028 -0.76 -146.0 167.6 -16.6 143 1032 0.00 2.25 0.00 0.000 4 0.000 0.052 2798 1246 3565 0 0 0 0 0 0

1070 -0.76 -146.0 175.0 -16.1 146 1080 0.00 2.38 0.00 0.000 6 0.000 0.059 2788 2683 3565 0 0 0 0 0 0

1207 -0.76 -146.0 201.1 -20.6 159 1208 0.10 0.00 0.00 0.000 6 0.195 0.000 2813 2684 3565 0 0 0 0 0 0

1333 -0.76 -146.0 220.8 -15.8 171 1337 0.00 1.73 0.00 0.000 4 0.000 0.063 2806 3769 3565 0 0 0 0 0 0

1389 -0.76 -146.0 230.3 -17.7 176 1392 0.00 1.70 0.00 0.000 6 0.000 0.044 2806 2673 3565 0 0 0 0 0 0

1528 -0.76 -146.0 254.5 -16.9 189 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2670 3565 0 0 0 0 0 0

1719 -0.76 -146.0 287.1 -16.3 207 1722 0.00 1.77 0.00 0.000 4 0.000 0.065 2798 3767 3565 0 0 0 0 0 0

1745 -0.76 -146.0 291.9 -17.1 209 1753 0.00 1.73 0.00 0.000 6 0.000 0.044 2798 2681 3565 0 0 0 0 0 0

1943 -0.76 -146.0 324.2 -16.3 228 1944 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2680 3565 0 0 0 0 0 0

2134 -0.76 -146.0 355.3 -16.3 246 2138 0.00 2.25 0.00 0.000 4 0.000 0.053 2798 1247 3565 0 0 0 0 0 0

2162 -0.76 -146.0 359.7 -15.5 248 2167 0.10 2.35 0.00 0.000 6 0.180 0.060 2813 2696 3565 0 0 0 0 0 0

2360 -0.76 -146.0 388.6 -14.7 266 2364 0.00 1.70 0.00 0.000 4 0.000 0.064 2807 3763 3565 0 0 0 0 0 0

2432 -0.76 -146.0 400.1 -15.4 272 2439 0.00 1.70 0.00 0.000 6 0.000 0.044 2806 2685 3565 0 0 0 0 0 0

2631 -0.76 -146.0 427.7 -13.9 291 2632 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2686 3565 0 0 0 0 0 0

2821 -0.76 -146.0 455.7 -14.9 309 2822 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2686 3565 0 0 0 0 0 0

2947 end dive: BOTTOM_OBSTACLE_DETECTED

state 2947 begin apogee

2952 -0.17 0.0 474.3 14.0 321 3094 0.62 0.00 132.73 1.128 4 0.135 0.000 3006 2493 2960 0 0 0 0 0 0

3094 end apogee: CONTROL_FINISHED_OK

state 3094 begin climb

3096 0.76 146.0 479.3 0.0 334 3250 0.95 2.53 142.93 1.053 4 0.077 0.052 3308 1095 2365 0 0 0 0 0 0

3353 0.76 146.0 455.5 11.9 357 3357 0.00 2.45 0.00 0.000 6 0.000 0.054 3309 2503 2354 0 0 0 0 0 0

3550 0.76 146.0 430.7 12.9 375 3554 0.00 2.33 0.00 0.000 4 0.000 0.052 3318 1092 2350 0 0 0 0 0 0

3656 0.76 146.0 417.5 12.0 384 3660 0.00 2.38 0.00 0.000 6 0.000 0.055 3318 2527 2348 0 0 0 0 0 0

3853 0.76 146.0 391.1 12.8 402 3857 0.00 2.00 0.00 0.000 4 0.000 0.062 3318 3765 2347 0 0 0 0 0 0

3954 0.76 146.0 375.1 16.7 411 3958 0.00 1.92 0.00 0.000 6 0.000 0.043 3327 2538 2347 0 0 0 0 0 0

4156 0.76 146.0 347.5 13.2 430 4160 0.00 2.00 0.00 0.000 4 0.000 0.060 3327 3771 2346 0 0 0 0 0 0

4194 0.76 146.0 341.6 15.8 433 4202 0.00 1.98 0.00 0.000 6 0.000 0.043 3337 2536 2345 0 0 0 0 0 0

4393 0.76 146.0 314.0 13.6 452 4397 0.00 2.00 0.00 0.000 4 0.000 0.061 3337 3773 2345 0 0 0 0 0 0

4420 0.76 146.0 309.6 15.9 454 4428 0.10 1.95 0.00 0.000 6 0.148 0.043 3314 2552 2345 0 0 0 0 0 0

4618 0.76 146.0 284.3 12.1 473 4619 0.00 0.00 0.00 0.000 6 0.000 0.000 3314 2550 2344 0 0 0 0 0 0

4809 0.76 146.0 260.4 12.3 491 4813 0.00 1.98 0.00 0.000 4 0.000 0.061 3314 3771 2344 0 0 0 0 0 0

4880 0.76 146.0 249.6 15.1 497 4888 0.00 1.92 0.00 0.000 6 0.000 0.042 3321 2556 2344 0 0 0 0 0 0

5082 0.76 146.0 224.9 12.3 516 5085 0.00 1.95 0.00 0.000 4 0.000 0.061 3321 3764 2343 0 0 0 0 0 0

5128 0.76 146.0 218.0 14.5 520 5138 0.00 1.90 0.00 0.000 6 0.000 0.043 3331 2564 2343 0 0 0 0 0 0

5264 0.76 146.0 199.5 15.4 533 5268 0.00 1.95 0.00 0.000 4 0.000 0.063 3331 3768 2343 0 0 0 0 0 0

5322 0.76 146.0 189.2 16.9 538 5331 0.00 1.90 0.00 0.000 6 0.000 0.043 3340 2568 2343 0 0 0 0 0 0

5460 0.76 146.0 170.0 16.0 551 5467 0.00 0.00 0.00 0.000 6 0.000 0.000 3340 2568 2342 0 0 0 0 0 0

5594 0.76 146.0 149.2 14.1 564 5598 0.00 1.95 0.00 0.000 4 0.000 0.062 3339 3775 2342 0 0 0 0 0 0

5641 0.76 146.0 141.1 17.1 568 5651 0.10 1.90 0.00 0.000 6 0.147 0.043 3316 2578 2342 0 0 0 0 0 0

5779 0.76 146.0 123.4 12.4 581 5787 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2576 2342 0 0 0 0 0 0

5914 0.76 146.0 106.9 11.9 594 5917 0.00 1.92 0.00 0.000 4 0.000 0.060 3316 3773 2342 0 0 0 0 0 0

5939 0.76 146.0 103.3 13.2 596 5948 0.00 1.88 0.00 0.000 6 0.000 0.044 3324 2584 2342 0 0 0 0 0 0

6075 0.76 146.0 87.6 12.2 618 6083 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2583 2342 0 0 0 0 0 0

6215 0.76 146.0 70.7 12.1 643 6221 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2583 2342 0 0 0 0 0 0

6351 0.76 146.0 55.3 10.7 668 6360 0.00 1.95 0.00 0.000 4 0.000 0.062 3324 3764 2341 0 0 0 0 0 0

6395 0.76 146.0 49.9 13.5 675 6401 0.00 1.85 0.00 0.000 6 0.000 0.042 3333 2569 2341 0 0 0 0 0 0

6533 0.76 146.0 31.8 14.7 700 6541 0.00 1.98 0.00 0.000 4 0.000 0.062 3333 3764 2342 0 0 0 0 0 0

6565 0.76 146.0 26.3 18.0 705 6572 0.12 1.83 0.00 0.000 6 0.174 0.042 3309 2586 2341 0 0 0 0 0 0

6708 0.76 146.0 3.5 16.6 730 6716 0.00 1.95 0.00 0.000 4 0.000 0.063 3309 3763 2341 0 0 0 0 0 0

6723 end climb: SURFACE_DEPTH_REACHED

state 6723 begin surface coast

6730 end surface coast: CONTROL_FINISHED_OK

state 6731 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	133	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	40	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	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	-26267.596	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	041210,112120,-7727.140,16511.088,33,1.9,33,144.3	TGT_NAME	SOUND2
_CALLS	1	TGT_LATLONG	-7723.000,16505.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041210,112120,-7727.140,16511.088,33,1.9,33,144.3	MHEAD_RNG_PITCHd_Wd	197.9,8052,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	559

FREEZE	1.24,-1.863,-1.902,2,2,0	ALTIM_BOTTOM_PING	451.0,37.5
FINISH	1.2,1.027882	_24V_AH	21.2,33.088
SM_CCo	6747,135.95,0.772,1,0,1329,400.08	_10V_AH	10.0,19.254
SM_GC	2.02,0.00,0.00,135.95,0.000,0.000,0.772,422,2643,1329,-8.25,-0.17,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16519.42,041210,080834	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	275996
HUMID	51.26	DATA_FILE_SIZE	50461,733
INTERNAL_PRESSURE	8.7308	CAP_FILE_SIZE	97664,0
TCM_TEMP	13.90	CFSIZE	260165632,245432320
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.7,17.9	GPS	041210,112120,-7727.140,16511.088,121,99.0,121,144.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	195	43.01	SBE_CT	516	24	262.90
Roll_motor	93	65	128.82	AA4330	879	33	615.31
VBD_pump_during_apogee	275	1128	6593.98	WL_BBFL2VMT	852	105	1897.27
VBD_pump_during_surface	135	771	2224.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	22.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1802	19	356.86
LPSleep	2829	2	61.96
TT8_Active	506	19	100.21
TT8_Sampling	1698	39	676.10
TT8_CF8	105	45	48.48
TT8_Kalman	0	0	0.00
Analog_circuits	1244	12	149.28
GPS_charging	0	0	0.00
Compass	1235	15	185.34
RAFOS	0	0	0.00
Transponder	14	30	4.20

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.76	-146.0	0.0	0.0	0	25	0.00	0.00	-8.38	0.000	2	0.000	0.000	3066	3761	3260	0	0	0	0	0	0
27	-0.76	-146.0	4.4	-0.0	1	48	0.68	4.05	-10.62	0.000	4	0.081	0.056	2816	1247	3562	0	0	0	0	0	0
59	-0.76	-146.0	7.5	-10.2	6	67	0.00	2.33	0.00	0.000	6	0.000	0.062	2806	2648	3563	0	0	0	0	0	0
199	-0.76	-146.0	26.6	-13.7	31	205	0.00	1.80	0.00	0.000	4	0.000	0.064	2797	3767	3564	0	0	0	0	0	0
290	-0.76	-146.0	41.6	-17.2	47	297	0.00	1.75	0.00	0.000	6	0.000	0.045	2798	2672	3565	0	0	0	0	0	0
426	-0.76	-146.0	63.8	-18.6	72	434	0.00	2.30	0.00	0.000	4	0.000	0.054	2798	1240	3565	0	0	0	0	0	0
494	-0.76	-146.0	78.2	-23.0	84	503	0.08	2.35	0.00	0.000	6	0.147	0.060	2812	2661	3565	0	0	0	0	0	0
635	-0.76	-146.0	104.2	-17.2	107	639	0.00	1.75	0.00	0.000	4	0.000	0.063	2805	3763	3564	0	0	0	0	0	0
702	-0.76	-146.0	116.7	-15.1	113	706	0.00	1.70	0.00	0.000	6	0.000	0.044	2805	2666	3565	0	0	0	0	0	0
843	-0.76	-146.0	136.5	-11.5	126	846	0.00	1.80	0.00	0.000	4	0.000	0.065	2798	3773	3565	0	0	0	0	0	0
888	-0.76	-146.0	143.7	-16.5	130	892	0.00	1.70	0.00	0.000	6	0.000	0.044	2798	2680	3565	0	0	0	0	0	0
1028	-0.76	-146.0	167.6	-16.6	143	1032	0.00	2.25	0.00	0.000	4	0.000	0.052	2798	1246	3565	0	0	0	0	0	0
1070	-0.76	-146.0	175.0	-16.1	146	1080	0.00	2.38	0.00	0.000	6	0.000	0.059	2788	2683	3565	0	0	0	0	0	0
1207	-0.76	-146.0	201.1	-20.6	159	1208	0.10	0.00	0.00	0.000	6	0.195	0.000	2813	2684	3565	0	0	0	0	0	0
1333	-0.76	-146.0	220.8	-15.8	171	1337	0.00	1.73	0.00	0.000	4	0.000	0.063	2806	3769	3565	0	0	0	0	0	0
1389	-0.76	-146.0	230.3	-17.7	176	1392	0.00	1.70	0.00	0.000	6	0.000	0.044	2806	2673	3565	0	0	0	0	0	0
1528	-0.76	-146.0	254.5	-16.9	189	1529	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2670	3565	0	0	0	0	0	0
1719	-0.76	-146.0	287.1	-16.3	207	1722	0.00	1.77	0.00	0.000	4	0.000	0.065	2798	3767	3565	0	0	0	0	0	0
1745	-0.76	-146.0	291.9	-17.1	209	1753	0.00	1.73	0.00	0.000	6	0.000	0.044	2798	2681	3565	0	0	0	0	0	0
1943	-0.76	-146.0	324.2	-16.3	228	1944	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2680	3565	0	0	0	0	0	0
2134	-0.76	-146.0	355.3	-16.3	246	2138	0.00	2.25	0.00	0.000	4	0.000	0.053	2798	1247	3565	0	0	0	0	0	0
2162	-0.76	-146.0	359.7	-15.5	248	2167	0.10	2.35	0.00	0.000	6	0.180	0.060	2813	2696	3565	0	0	0	0	0	0
2360	-0.76	-146.0	388.6	-14.7	266	2364	0.00	1.70	0.00	0.000	4	0.000	0.064	2807	3763	3565	0	0	0	0	0	0
2432	-0.76	-146.0	400.1	-15.4	272	2439	0.00	1.70	0.00	0.000	6	0.000	0.044	2806	2685	3565	0	0	0	0	0	0
2631	-0.76	-146.0	427.7	-13.9	291	2632	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2686	3565	0	0	0	0	0	0
2821	-0.76	-146.0	455.7	-14.9	309	2822	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2686	3565	0	0	0	0	0	0
2947	end dive: BOTTOM_OBSTACLE_DETECTED
state	2947	begin apogee
2952	-0.17	0.0	474.3	14.0	321	3094	0.62	0.00	132.73	1.128	4	0.135	0.000	3006	2493	2960	0	0	0	0	0	0
3094	end apogee: CONTROL_FINISHED_OK
state	3094	begin climb
3096	0.76	146.0	479.3	0.0	334	3250	0.95	2.53	142.93	1.053	4	0.077	0.052	3308	1095	2365	0	0	0	0	0	0
3353	0.76	146.0	455.5	11.9	357	3357	0.00	2.45	0.00	0.000	6	0.000	0.054	3309	2503	2354	0	0	0	0	0	0
3550	0.76	146.0	430.7	12.9	375	3554	0.00	2.33	0.00	0.000	4	0.000	0.052	3318	1092	2350	0	0	0	0	0	0
3656	0.76	146.0	417.5	12.0	384	3660	0.00	2.38	0.00	0.000	6	0.000	0.055	3318	2527	2348	0	0	0	0	0	0
3853	0.76	146.0	391.1	12.8	402	3857	0.00	2.00	0.00	0.000	4	0.000	0.062	3318	3765	2347	0	0	0	0	0	0
3954	0.76	146.0	375.1	16.7	411	3958	0.00	1.92	0.00	0.000	6	0.000	0.043	3327	2538	2347	0	0	0	0	0	0
4156	0.76	146.0	347.5	13.2	430	4160	0.00	2.00	0.00	0.000	4	0.000	0.060	3327	3771	2346	0	0	0	0	0	0
4194	0.76	146.0	341.6	15.8	433	4202	0.00	1.98	0.00	0.000	6	0.000	0.043	3337	2536	2345	0	0	0	0	0	0
4393	0.76	146.0	314.0	13.6	452	4397	0.00	2.00	0.00	0.000	4	0.000	0.061	3337	3773	2345	0	0	0	0	0	0
4420	0.76	146.0	309.6	15.9	454	4428	0.10	1.95	0.00	0.000	6	0.148	0.043	3314	2552	2345	0	0	0	0	0	0
4618	0.76	146.0	284.3	12.1	473	4619	0.00	0.00	0.00	0.000	6	0.000	0.000	3314	2550	2344	0	0	0	0	0	0
4809	0.76	146.0	260.4	12.3	491	4813	0.00	1.98	0.00	0.000	4	0.000	0.061	3314	3771	2344	0	0	0	0	0	0
4880	0.76	146.0	249.6	15.1	497	4888	0.00	1.92	0.00	0.000	6	0.000	0.042	3321	2556	2344	0	0	0	0	0	0
5082	0.76	146.0	224.9	12.3	516	5085	0.00	1.95	0.00	0.000	4	0.000	0.061	3321	3764	2343	0	0	0	0	0	0
5128	0.76	146.0	218.0	14.5	520	5138	0.00	1.90	0.00	0.000	6	0.000	0.043	3331	2564	2343	0	0	0	0	0	0
5264	0.76	146.0	199.5	15.4	533	5268	0.00	1.95	0.00	0.000	4	0.000	0.063	3331	3768	2343	0	0	0	0	0	0
5322	0.76	146.0	189.2	16.9	538	5331	0.00	1.90	0.00	0.000	6	0.000	0.043	3340	2568	2343	0	0	0	0	0	0
5460	0.76	146.0	170.0	16.0	551	5467	0.00	0.00	0.00	0.000	6	0.000	0.000	3340	2568	2342	0	0	0	0	0	0
5594	0.76	146.0	149.2	14.1	564	5598	0.00	1.95	0.00	0.000	4	0.000	0.062	3339	3775	2342	0	0	0	0	0	0
5641	0.76	146.0	141.1	17.1	568	5651	0.10	1.90	0.00	0.000	6	0.147	0.043	3316	2578	2342	0	0	0	0	0	0
5779	0.76	146.0	123.4	12.4	581	5787	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2576	2342	0	0	0	0	0	0
5914	0.76	146.0	106.9	11.9	594	5917	0.00	1.92	0.00	0.000	4	0.000	0.060	3316	3773	2342	0	0	0	0	0	0
5939	0.76	146.0	103.3	13.2	596	5948	0.00	1.88	0.00	0.000	6	0.000	0.044	3324	2584	2342	0	0	0	0	0	0
6075	0.76	146.0	87.6	12.2	618	6083	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2583	2342	0	0	0	0	0	0
6215	0.76	146.0	70.7	12.1	643	6221	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2583	2342	0	0	0	0	0	0
6351	0.76	146.0	55.3	10.7	668	6360	0.00	1.95	0.00	0.000	4	0.000	0.062	3324	3764	2341	0	0	0	0	0	0
6395	0.76	146.0	49.9	13.5	675	6401	0.00	1.85	0.00	0.000	6	0.000	0.042	3333	2569	2341	0	0	0	0	0	0
6533	0.76	146.0	31.8	14.7	700	6541	0.00	1.98	0.00	0.000	4	0.000	0.062	3333	3764	2342	0	0	0	0	0	0
6565	0.76	146.0	26.3	18.0	705	6572	0.12	1.83	0.00	0.000	6	0.174	0.042	3309	2586	2341	0	0	0	0	0	0
6708	0.76	146.0	3.5	16.6	730	6716	0.00	1.95	0.00	0.000	4	0.000	0.063	3309	3763	2341	0	0	0	0	0	0
6723	end climb: SURFACE_DEPTH_REACHED
state	6723	begin surface coast
6730	end surface coast: CONTROL_FINISHED_OK
state	6731	begin surface