Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 137 * 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 137 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 32 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 -27251.076 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 -27251.076

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 32 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 137 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 041210,180330,-7639.687,16505.381,0,10000.0,0,144.3 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 1.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041210,180330,-7639.687,16505.381,121,99.0,121,144.3 MHEAD_RNG_PITCHd_Wd 35.8,80216,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 553

Post-dive calculations and measurements:

FREEZE 1.23,-1.982,-1.910,2,1,0 ALTIM_BOTTOM_PING 400.3,55.8

FINISH 1.2,1.028001 _24V_AH 21.2,33.714

SM_CCo 6247,128.40,0.768,1,0,1330,400.08 _10V_AH 10.0,19.626

SM_GC 2.09,0.00,0.00,128.40,0.000,0.000,0.768,422,2653,1330,-8.26,0.08,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16519.42,041210,202014 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276008

HUMID 50.59 DATA_FILE_SIZE 47073,686

INTERNAL_PRESSURE 8.7308 CAP_FILE_SIZE 97777,0

TCM_TEMP 14.00 CFSIZE 260165632,245207040

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

ALTIM_TOP_PING 19.1,17.4 GPS 041210,200814,-7639.687,16519.416,0,10000.0,0,144.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 205 80.19 SBE_CT 481 24 245.15

Roll_motor 81 82 143.58 AA4330 839 33 587.49

VBD_pump_during_apogee 284 1090 6581.33 WL_BBFL2VMT 838 105 1866.64

VBD_pump_during_surface 128 768 2090.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 67.91 nil 0 0 0.00

Iridium_during_connect 39 160 133.60 nil 0 0 0.00

Iridium_during_xfer 226 223 1070.16 nil 0 0 0.00

Transponder_ping 2 420 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 121 50 60.79

TT8 1648 19 326.44

LPSleep 2534 2 55.50

TT8_Active 543 19 107.69

TT8_Sampling 2034 39 809.57

TT8_CF8 123 45 56.75

TT8_Kalman 0 0 0.00

Analog_circuits 1256 12 150.78

GPS_charging 0 0 0.00

Compass 1140 15 171.13

RAFOS 0 0 0.00

Transponder 12 30 3.70

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 0 122 0.00 0.00 -104.10 0.000 2 0.000 0.000 412 2674 3250 0 0 0 0 0 0

124 -0.76 -146.0 3.2 -2.1 16 152 8.90 1.85 -10.62 0.000 4 0.205 0.083 2799 3757 3560 0 0 0 0 0 0

268 -0.76 -146.0 26.8 -23.4 41 275 0.00 1.77 0.00 0.000 6 0.000 0.044 2799 2631 3561 0 0 0 0 0 0

404 -0.76 -146.0 52.9 -16.3 66 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2629 3562 0 0 0 0 0 0

545 -0.76 -146.0 76.2 -15.1 91 552 0.00 2.20 0.00 0.000 4 0.000 0.054 2798 1243 3562 0 0 0 0 0 0

570 -0.76 -146.0 80.2 -15.6 95 577 0.00 2.33 0.00 0.000 6 0.000 0.060 2789 2660 3562 0 0 0 0 0 0

715 -0.76 -146.0 103.5 -16.8 119 719 0.10 1.77 0.00 0.000 4 0.194 0.063 2806 3762 3562 0 0 0 0 0 0

740 -0.76 -146.0 108.4 -17.0 121 749 0.00 1.73 0.00 0.000 6 0.000 0.043 2806 2673 3562 0 0 0 0 0 0

876 -0.76 -146.0 130.5 -16.8 134 877 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2672 3562 0 0 0 0 0 0

1003 -0.76 -146.0 151.5 -16.9 146 1007 0.00 1.77 0.00 0.000 4 0.000 0.065 2798 3764 3562 0 0 0 0 0 0

1028 -0.76 -146.0 157.0 -19.5 148 1038 0.00 1.75 0.00 0.000 6 0.000 0.044 2798 2664 3562 0 0 0 0 0 0

1165 -0.76 -146.0 179.4 -15.9 161 1168 0.00 1.77 0.00 0.000 4 0.000 0.063 2790 3763 3562 0 0 0 0 0 0

1190 -0.76 -146.0 184.3 -17.0 163 1200 0.00 1.70 0.00 0.000 6 0.000 0.043 2789 2686 3562 0 0 0 0 0 0

1326 -0.76 -146.0 206.3 -17.0 176 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2686 3562 0 0 0 0 0 0

1454 -0.76 -146.0 229.5 -19.4 188 1455 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2686 3562 0 0 0 0 0 0

1579 -0.76 -146.0 252.4 -18.0 200 1580 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2686 3562 0 0 0 0 0 0

1772 -0.76 -146.0 283.1 -14.4 218 1773 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2686 3562 0 0 0 0 0 0

1962 -0.76 -146.0 312.1 -15.5 236 1966 0.00 1.75 0.00 0.000 4 0.000 0.065 2782 3766 3562 0 0 0 0 0 0

2018 -0.76 -146.0 321.3 -15.9 241 2023 0.10 1.70 0.00 0.000 6 0.147 0.044 2814 2694 3562 0 0 0 0 0 0

2221 -0.76 -146.0 348.5 -13.8 260 2224 0.00 1.75 0.00 0.000 4 0.000 0.065 2808 3771 3562 0 0 0 0 0 0

2265 -0.76 -146.0 355.0 -15.2 264 2269 0.00 1.67 0.00 0.000 6 0.000 0.044 2807 2689 3562 0 0 0 0 0 0

2468 -0.76 -146.0 385.4 -15.3 283 2469 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2687 3562 0 0 0 0 0 0

2659 -0.76 -146.0 414.8 -15.0 301 2660 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2687 3562 0 0 0 0 0 0

2838 end dive: BOTTOM_OBSTACLE_DETECTED

state 2838 begin apogee

2842 -0.17 0.0 441.4 14.8 318 2979 0.60 0.00 130.60 1.091 4 0.132 0.000 3003 2494 2961 0 0 0 0 0 0

2979 end apogee: CONTROL_FINISHED_OK

state 2979 begin climb

2981 0.76 146.0 447.0 0.0 330 3135 0.98 2.50 142.52 1.015 4 0.079 0.053 3313 1105 2363 0 0 0 0 0 0

3251 0.76 146.0 421.2 12.3 354 3260 0.00 2.47 0.00 0.000 6 0.000 0.054 3313 2501 2352 0 0 0 0 0 0

3452 0.76 146.0 396.9 12.3 373 3456 0.00 2.30 0.00 0.000 4 0.000 0.053 3321 1101 2349 0 0 0 0 0 0

3580 0.76 146.0 380.7 12.3 384 3585 0.00 2.35 0.00 0.000 6 0.000 0.054 3322 2532 2346 0 0 0 0 0 0

3777 0.76 146.0 354.0 13.5 402 3781 0.00 1.98 0.00 0.000 4 0.000 0.060 3321 3765 2345 0 0 0 0 0 0

3873 0.76 146.0 338.6 16.4 410 3880 0.00 1.92 0.00 0.000 6 0.000 0.043 3329 2544 2344 0 0 0 0 0 0

4070 0.76 146.0 309.0 14.6 429 4073 0.00 2.00 0.00 0.000 4 0.000 0.062 3329 3773 2344 0 0 0 0 0 0

4127 0.76 146.0 299.9 16.4 434 4131 0.00 1.90 0.00 0.000 6 0.000 0.043 3339 2552 2343 0 0 0 0 0 0

4330 0.76 146.0 270.3 13.7 453 4334 0.00 1.95 0.00 0.000 4 0.000 0.060 3339 3763 2343 0 0 0 0 0 0

4364 0.76 146.0 264.9 16.8 456 4368 0.12 1.88 0.00 0.000 6 0.172 0.043 3315 2555 2343 0 0 0 0 0 0

4568 0.76 146.0 238.1 13.0 475 4571 0.00 1.95 0.00 0.000 4 0.000 0.061 3315 3763 2342 0 0 0 0 0 0

4593 0.76 146.0 234.0 13.9 477 4602 0.00 1.90 0.00 0.000 6 0.000 0.043 3323 2562 2342 0 0 0 0 0 0

4729 0.76 146.0 215.9 13.0 490 4732 0.00 1.95 0.00 0.000 4 0.000 0.061 3323 3768 2342 0 0 0 0 0 0

4763 0.76 146.0 211.0 14.6 493 4766 0.00 1.88 0.00 0.000 6 0.000 0.044 3332 2561 2341 0 0 0 0 0 0

4903 0.76 146.0 190.9 14.1 506 4907 0.00 1.95 0.00 0.000 4 0.000 0.061 3332 3767 2342 0 0 0 0 0 0

4928 0.76 146.0 186.6 15.4 508 4939 0.08 1.88 0.00 0.000 6 0.153 0.042 3317 2579 2341 0 0 0 0 0 0

5065 0.76 146.0 169.0 13.9 521 5066 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2579 2341 0 0 0 0 0 0

5192 0.76 146.0 153.6 12.3 533 5196 0.00 1.90 0.00 0.000 4 0.000 0.059 3316 3764 2341 0 0 0 0 0 0

5236 0.76 146.0 147.1 16.0 537 5240 0.00 1.83 0.00 0.000 6 0.000 0.043 3324 2584 2341 0 0 0 0 0 0

5377 0.76 146.0 125.5 16.1 550 5381 0.00 1.90 0.00 0.000 4 0.000 0.061 3324 3763 2341 0 0 0 0 0 0

5402 0.76 146.0 120.5 18.2 552 5412 0.00 1.83 0.00 0.000 6 0.000 0.043 3333 2608 2340 0 0 0 0 0 0

5538 0.76 146.0 99.1 15.3 565 5545 0.00 1.88 0.00 0.000 4 0.000 0.061 3333 3763 2341 0 0 0 0 0 0

5567 0.76 146.0 93.4 18.8 570 5576 0.08 1.80 0.00 0.000 6 0.155 0.044 3318 2628 2340 0 0 0 0 0 0

5709 0.76 146.0 73.8 12.7 595 5716 0.00 2.42 0.00 0.000 4 0.000 0.054 3327 1093 2340 0 0 0 0 0 0

5723 0.76 146.0 71.7 13.5 597 5730 0.00 2.50 0.00 0.000 6 0.000 0.057 3327 2637 2340 0 0 0 0 0 0

5864 0.78 162.3 54.6 9.2 622 5878 0.00 0.00 11.45 0.835 6 0.000 0.000 3327 2637 2299 0 0 0 0 0 0

6009 0.78 162.3 37.2 12.4 648 6017 0.00 1.83 0.00 0.000 4 0.000 0.059 3327 3757 2295 0 0 0 0 0 0

6066 0.78 162.3 28.0 16.8 658 6075 0.00 1.83 0.00 0.000 6 0.000 0.044 3336 2614 2295 0 0 0 0 0 0

6210 0.78 162.3 4.2 17.0 683 6217 0.00 1.88 0.00 0.000 4 0.000 0.059 3336 3770 2294 0 0 0 0 0 0

6224 end climb: SURFACE_DEPTH_REACHED

state 6224 begin surface coast

6231 end surface coast: FINISH_DEPTH_REACHED

state 6231 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	137	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	32	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	-27251.076	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	041210,180330,-7639.687,16505.381,0,10000.0,0,144.3	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	1.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041210,180330,-7639.687,16505.381,121,99.0,121,144.3	MHEAD_RNG_PITCHd_Wd	35.8,80216,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	553

FREEZE	1.23,-1.982,-1.910,2,1,0	ALTIM_BOTTOM_PING	400.3,55.8
FINISH	1.2,1.028001	_24V_AH	21.2,33.714
SM_CCo	6247,128.40,0.768,1,0,1330,400.08	_10V_AH	10.0,19.626
SM_GC	2.09,0.00,0.00,128.40,0.000,0.000,0.768,422,2653,1330,-8.26,0.08,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16519.42,041210,202014	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276008
HUMID	50.59	DATA_FILE_SIZE	47073,686
INTERNAL_PRESSURE	8.7308	CAP_FILE_SIZE	97777,0
TCM_TEMP	14.00	CFSIZE	260165632,245207040
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.1,17.4	GPS	041210,200814,-7639.687,16519.416,0,10000.0,0,144.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	205	80.19	SBE_CT	481	24	245.15
Roll_motor	81	82	143.58	AA4330	839	33	587.49
VBD_pump_during_apogee	284	1090	6581.33	WL_BBFL2VMT	838	105	1866.64
VBD_pump_during_surface	128	768	2090.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	67.91	nil	0	0	0.00
Iridium_during_connect	39	160	133.60	nil	0	0	0.00
Iridium_during_xfer	226	223	1070.16	nil	0	0	0.00
Transponder_ping	2	420	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	121	50	60.79
TT8	1648	19	326.44
LPSleep	2534	2	55.50
TT8_Active	543	19	107.69
TT8_Sampling	2034	39	809.57
TT8_CF8	123	45	56.75
TT8_Kalman	0	0	0.00
Analog_circuits	1256	12	150.78
GPS_charging	0	0	0.00
Compass	1140	15	171.13
RAFOS	0	0	0.00
Transponder	12	30	3.70

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	122	0.00	0.00	-104.10	0.000	2	0.000	0.000	412	2674	3250	0	0	0	0	0	0
124	-0.76	-146.0	3.2	-2.1	16	152	8.90	1.85	-10.62	0.000	4	0.205	0.083	2799	3757	3560	0	0	0	0	0	0
268	-0.76	-146.0	26.8	-23.4	41	275	0.00	1.77	0.00	0.000	6	0.000	0.044	2799	2631	3561	0	0	0	0	0	0
404	-0.76	-146.0	52.9	-16.3	66	412	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2629	3562	0	0	0	0	0	0
545	-0.76	-146.0	76.2	-15.1	91	552	0.00	2.20	0.00	0.000	4	0.000	0.054	2798	1243	3562	0	0	0	0	0	0
570	-0.76	-146.0	80.2	-15.6	95	577	0.00	2.33	0.00	0.000	6	0.000	0.060	2789	2660	3562	0	0	0	0	0	0
715	-0.76	-146.0	103.5	-16.8	119	719	0.10	1.77	0.00	0.000	4	0.194	0.063	2806	3762	3562	0	0	0	0	0	0
740	-0.76	-146.0	108.4	-17.0	121	749	0.00	1.73	0.00	0.000	6	0.000	0.043	2806	2673	3562	0	0	0	0	0	0
876	-0.76	-146.0	130.5	-16.8	134	877	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2672	3562	0	0	0	0	0	0
1003	-0.76	-146.0	151.5	-16.9	146	1007	0.00	1.77	0.00	0.000	4	0.000	0.065	2798	3764	3562	0	0	0	0	0	0
1028	-0.76	-146.0	157.0	-19.5	148	1038	0.00	1.75	0.00	0.000	6	0.000	0.044	2798	2664	3562	0	0	0	0	0	0
1165	-0.76	-146.0	179.4	-15.9	161	1168	0.00	1.77	0.00	0.000	4	0.000	0.063	2790	3763	3562	0	0	0	0	0	0
1190	-0.76	-146.0	184.3	-17.0	163	1200	0.00	1.70	0.00	0.000	6	0.000	0.043	2789	2686	3562	0	0	0	0	0	0
1326	-0.76	-146.0	206.3	-17.0	176	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2686	3562	0	0	0	0	0	0
1454	-0.76	-146.0	229.5	-19.4	188	1455	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2686	3562	0	0	0	0	0	0
1579	-0.76	-146.0	252.4	-18.0	200	1580	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2686	3562	0	0	0	0	0	0
1772	-0.76	-146.0	283.1	-14.4	218	1773	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2686	3562	0	0	0	0	0	0
1962	-0.76	-146.0	312.1	-15.5	236	1966	0.00	1.75	0.00	0.000	4	0.000	0.065	2782	3766	3562	0	0	0	0	0	0
2018	-0.76	-146.0	321.3	-15.9	241	2023	0.10	1.70	0.00	0.000	6	0.147	0.044	2814	2694	3562	0	0	0	0	0	0
2221	-0.76	-146.0	348.5	-13.8	260	2224	0.00	1.75	0.00	0.000	4	0.000	0.065	2808	3771	3562	0	0	0	0	0	0
2265	-0.76	-146.0	355.0	-15.2	264	2269	0.00	1.67	0.00	0.000	6	0.000	0.044	2807	2689	3562	0	0	0	0	0	0
2468	-0.76	-146.0	385.4	-15.3	283	2469	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2687	3562	0	0	0	0	0	0
2659	-0.76	-146.0	414.8	-15.0	301	2660	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2687	3562	0	0	0	0	0	0
2838	end dive: BOTTOM_OBSTACLE_DETECTED
state	2838	begin apogee
2842	-0.17	0.0	441.4	14.8	318	2979	0.60	0.00	130.60	1.091	4	0.132	0.000	3003	2494	2961	0	0	0	0	0	0
2979	end apogee: CONTROL_FINISHED_OK
state	2979	begin climb
2981	0.76	146.0	447.0	0.0	330	3135	0.98	2.50	142.52	1.015	4	0.079	0.053	3313	1105	2363	0	0	0	0	0	0
3251	0.76	146.0	421.2	12.3	354	3260	0.00	2.47	0.00	0.000	6	0.000	0.054	3313	2501	2352	0	0	0	0	0	0
3452	0.76	146.0	396.9	12.3	373	3456	0.00	2.30	0.00	0.000	4	0.000	0.053	3321	1101	2349	0	0	0	0	0	0
3580	0.76	146.0	380.7	12.3	384	3585	0.00	2.35	0.00	0.000	6	0.000	0.054	3322	2532	2346	0	0	0	0	0	0
3777	0.76	146.0	354.0	13.5	402	3781	0.00	1.98	0.00	0.000	4	0.000	0.060	3321	3765	2345	0	0	0	0	0	0
3873	0.76	146.0	338.6	16.4	410	3880	0.00	1.92	0.00	0.000	6	0.000	0.043	3329	2544	2344	0	0	0	0	0	0
4070	0.76	146.0	309.0	14.6	429	4073	0.00	2.00	0.00	0.000	4	0.000	0.062	3329	3773	2344	0	0	0	0	0	0
4127	0.76	146.0	299.9	16.4	434	4131	0.00	1.90	0.00	0.000	6	0.000	0.043	3339	2552	2343	0	0	0	0	0	0
4330	0.76	146.0	270.3	13.7	453	4334	0.00	1.95	0.00	0.000	4	0.000	0.060	3339	3763	2343	0	0	0	0	0	0
4364	0.76	146.0	264.9	16.8	456	4368	0.12	1.88	0.00	0.000	6	0.172	0.043	3315	2555	2343	0	0	0	0	0	0
4568	0.76	146.0	238.1	13.0	475	4571	0.00	1.95	0.00	0.000	4	0.000	0.061	3315	3763	2342	0	0	0	0	0	0
4593	0.76	146.0	234.0	13.9	477	4602	0.00	1.90	0.00	0.000	6	0.000	0.043	3323	2562	2342	0	0	0	0	0	0
4729	0.76	146.0	215.9	13.0	490	4732	0.00	1.95	0.00	0.000	4	0.000	0.061	3323	3768	2342	0	0	0	0	0	0
4763	0.76	146.0	211.0	14.6	493	4766	0.00	1.88	0.00	0.000	6	0.000	0.044	3332	2561	2341	0	0	0	0	0	0
4903	0.76	146.0	190.9	14.1	506	4907	0.00	1.95	0.00	0.000	4	0.000	0.061	3332	3767	2342	0	0	0	0	0	0
4928	0.76	146.0	186.6	15.4	508	4939	0.08	1.88	0.00	0.000	6	0.153	0.042	3317	2579	2341	0	0	0	0	0	0
5065	0.76	146.0	169.0	13.9	521	5066	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2579	2341	0	0	0	0	0	0
5192	0.76	146.0	153.6	12.3	533	5196	0.00	1.90	0.00	0.000	4	0.000	0.059	3316	3764	2341	0	0	0	0	0	0
5236	0.76	146.0	147.1	16.0	537	5240	0.00	1.83	0.00	0.000	6	0.000	0.043	3324	2584	2341	0	0	0	0	0	0
5377	0.76	146.0	125.5	16.1	550	5381	0.00	1.90	0.00	0.000	4	0.000	0.061	3324	3763	2341	0	0	0	0	0	0
5402	0.76	146.0	120.5	18.2	552	5412	0.00	1.83	0.00	0.000	6	0.000	0.043	3333	2608	2340	0	0	0	0	0	0
5538	0.76	146.0	99.1	15.3	565	5545	0.00	1.88	0.00	0.000	4	0.000	0.061	3333	3763	2341	0	0	0	0	0	0
5567	0.76	146.0	93.4	18.8	570	5576	0.08	1.80	0.00	0.000	6	0.155	0.044	3318	2628	2340	0	0	0	0	0	0
5709	0.76	146.0	73.8	12.7	595	5716	0.00	2.42	0.00	0.000	4	0.000	0.054	3327	1093	2340	0	0	0	0	0	0
5723	0.76	146.0	71.7	13.5	597	5730	0.00	2.50	0.00	0.000	6	0.000	0.057	3327	2637	2340	0	0	0	0	0	0
5864	0.78	162.3	54.6	9.2	622	5878	0.00	0.00	11.45	0.835	6	0.000	0.000	3327	2637	2299	0	0	0	0	0	0
6009	0.78	162.3	37.2	12.4	648	6017	0.00	1.83	0.00	0.000	4	0.000	0.059	3327	3757	2295	0	0	0	0	0	0
6066	0.78	162.3	28.0	16.8	658	6075	0.00	1.83	0.00	0.000	6	0.000	0.044	3336	2614	2295	0	0	0	0	0	0
6210	0.78	162.3	4.2	17.0	683	6217	0.00	1.88	0.00	0.000	4	0.000	0.059	3336	3770	2294	0	0	0	0	0	0
6224	end climb: SURFACE_DEPTH_REACHED
state	6224	begin surface coast
6231	end surface coast: FINISH_DEPTH_REACHED
state	6231	begin surface