Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 146 * 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 146 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 3 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 30 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 5 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 -27625.754 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 3 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 5

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 -27625.754

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 30 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 146 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 051210,155411,-7720.035,16505.637,291,4.4,301,144.0 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG -7640.000,16530.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051210,160722,-7720.003,16505.398,13,5.0,32,144.0 MHEAD_RNG_PITCHd_Wd 224.1,74827,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 475

Post-dive calculations and measurements:

FREEZE 1.23,-1.856,-0.980,2,1,0 _24V_AH 21.1,34.805

FINISH 1.2,1.014443 _10V_AH 10.0,20.404

SM_CCo 6927,133.48,0.741,1,0,1329,400.08 FG_AHR_24Vo 0.000

SM_GC 1.98,0.00,0.00,133.48,0.000,0.000,0.741,423,2654,1329,-8.26,0.11,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7630.39,16505.38,051210,080815 MEM 276296

TT8_MAMPS 0.028462 DATA_FILE_SIZE 50338,751

HUMID 51.06 CAP_FILE_SIZE 109459,0

INTERNAL_PRESSURE 8.7308 CFSIZE 260165632,244690944

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 GPS 051210,180637,-7719.259,16505.686,29,1.0,30,144.0

ALTIM_TOP_PING 19.4,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 205 80.22 SBE_CT 528 24 267.39

Roll_motor 73 123 192.07 AA4330 903 33 628.78

VBD_pump_during_apogee 274 1110 6441.20 WL_BBFL2VMT 878 105 1946.89

VBD_pump_during_surface 133 740 2085.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 65.28 nil 0 0 0.00

Iridium_during_connect 44 160 150.81 nil 0 0 0.00

Iridium_during_xfer 566 223 2663.98 nil 0 0 0.00

Transponder_ping 2 420 17.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.32

TT8 1805 19 357.50

LPSleep 2932 2 64.22

TT8_Active 552 19 109.41

TT8_Sampling 2395 39 953.23

TT8_CF8 179 45 82.37

TT8_Kalman 0 0 0.00

Analog_circuits 1309 12 157.09

GPS_charging 0 0 0.00

Compass 1240 15 186.08

RAFOS 0 0 0.00

Transponder 11 30 3.36

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 0 121 0.00 0.00 -104.05 0.000 2 0.000 0.000 413 2674 3238 0 0 0 0 0 0

124 -0.76 -146.0 3.2 -1.8 16 152 9.00 1.85 -10.10 0.000 4 0.206 0.081 2801 3752 3560 0 0 0 0 0 0

399 -0.76 -146.0 51.1 -18.5 65 406 0.00 1.77 0.00 0.000 6 0.000 0.045 2801 2627 3562 0 0 0 0 0 0

536 -0.76 -146.0 77.7 -19.0 90 544 0.00 1.90 0.00 0.000 4 0.000 0.064 2792 3758 3563 0 0 0 0 0 0

572 -0.76 -146.0 85.0 -19.7 96 580 0.00 1.77 0.00 0.000 6 0.000 0.043 2792 2652 3563 0 0 0 0 0 0

717 -0.76 -146.0 109.5 -16.5 117 718 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2652 3563 0 0 0 0 0 0

844 -0.76 -146.0 130.5 -16.6 129 848 0.00 1.80 0.00 0.000 4 0.000 0.067 2783 3756 3563 0 0 0 0 0 0

869 -0.76 -146.0 134.8 -17.8 131 873 0.12 1.70 0.00 0.000 6 0.172 0.044 2816 2665 3563 0 0 0 0 0 0

1011 -0.76 -146.0 155.3 -13.9 144 1018 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2663 3563 0 0 0 0 0 0

1145 -0.76 -146.0 174.6 -14.3 157 1146 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2663 3563 0 0 0 0 0 0

1273 -0.76 -146.0 194.3 -16.3 169 1274 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2663 3563 0 0 0 0 0 0

1400 -0.76 -146.0 214.8 -16.5 181 1404 0.00 1.77 0.00 0.000 4 0.000 0.064 2809 3760 3563 0 0 0 0 0 0

1436 -0.76 -146.0 221.6 -17.8 184 1446 0.00 1.75 0.00 0.000 6 0.000 0.044 2809 2657 3563 0 0 0 0 0 0

1573 -0.76 -146.0 242.1 -14.9 197 1576 0.00 1.80 0.00 0.000 4 0.000 0.066 2800 3763 3563 0 0 0 0 0 0

1596 -0.76 -146.0 245.8 -15.4 199 1600 0.00 1.67 0.00 0.000 6 0.000 0.044 2800 2679 3563 0 0 0 0 0 0

1737 -0.76 -146.0 266.8 -14.4 212 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2677 3563 0 0 0 0 0 0

1927 -0.76 -146.0 294.2 -13.8 230 1928 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2677 3563 0 0 0 0 0 0

2117 -0.76 -146.0 321.8 -14.7 248 2121 0.00 1.75 0.00 0.000 4 0.000 0.066 2792 3756 3563 0 0 0 0 0 0

2175 -0.76 -146.0 330.4 -15.3 253 2179 0.00 1.67 0.00 0.000 6 0.000 0.044 2792 2675 3563 0 0 0 0 0 0

2378 -0.76 -146.0 360.9 -15.5 272 2379 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2674 3563 0 0 0 0 0 0

2569 -0.76 -146.0 389.9 -15.2 290 2573 0.00 1.75 0.00 0.000 4 0.000 0.066 2785 3756 3563 0 0 0 0 0 0

2607 -0.76 -146.0 396.3 -16.4 293 2615 0.08 1.70 0.00 0.000 6 0.152 0.044 2809 2684 3563 0 0 0 0 0 0

2805 -0.76 -146.0 424.2 -14.2 312 2806 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2684 3563 0 0 0 0 0 0

2997 -0.76 -146.0 450.0 -13.4 330 2998 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2684 3563 0 0 0 0 0 0

3186 end dive: TARGET_DEPTH_EXCEEDED

state 3186 begin apogee

3190 -0.17 0.0 475.8 13.3 348 3333 0.60 0.00 132.07 1.111 4 0.130 0.000 3006 2492 2959 0 0 0 0 0 0

3334 end apogee: CONTROL_FINISHED_OK

state 3334 begin climb

3335 0.76 146.0 480.4 0.0 361 3489 0.95 2.53 142.75 1.035 4 0.076 0.052 3310 1102 2364 0 0 0 0 0 0

3626 0.76 146.0 452.8 12.6 387 3630 0.00 2.40 0.00 0.000 6 0.000 0.055 3310 2492 2352 0 0 0 0 0 0

3823 0.76 146.0 426.8 13.2 405 3827 0.00 2.30 0.00 0.000 4 0.000 0.054 3319 1088 2349 0 0 0 0 0 0

3941 0.76 146.0 411.1 13.4 415 3945 0.00 2.35 0.00 0.000 6 0.000 0.057 3319 2518 2346 0 0 0 0 0 0

4138 0.76 146.0 384.7 13.6 433 4142 0.00 2.03 0.00 0.000 4 0.000 0.060 3318 3776 2346 0 0 0 0 0 0

4221 0.76 146.0 371.5 16.7 440 4228 0.00 1.95 0.00 0.000 6 0.000 0.043 3328 2539 2344 0 0 0 0 0 0

4419 0.76 146.0 342.1 14.9 459 4422 0.00 1.98 0.00 0.000 4 0.000 0.061 3328 3764 2344 0 0 0 0 0 0

4445 0.76 146.0 337.5 16.8 461 4453 0.00 1.95 0.00 0.000 6 0.000 0.042 3337 2543 2344 0 0 0 0 0 0

4643 0.76 146.0 308.1 14.8 480 4647 0.00 1.98 0.00 0.000 4 0.000 0.061 3337 3764 2343 0 0 0 0 0 0

4669 0.76 146.0 303.5 17.0 482 4679 0.10 1.95 0.00 0.000 6 0.148 0.042 3314 2542 2342 0 0 0 0 0 0

4869 0.76 146.0 278.4 11.7 501 4873 0.00 1.98 0.00 0.000 4 0.000 0.061 3315 3766 2342 0 0 0 0 0 0

4918 0.76 146.0 270.8 14.8 505 4926 0.00 1.92 0.00 0.000 6 0.000 0.042 3322 2552 2342 0 0 0 0 0 0

5118 0.76 146.0 244.4 13.2 524 5122 0.00 1.98 0.00 0.000 4 0.000 0.062 3322 3774 2342 0 0 0 0 0 0

5163 0.76 146.0 237.7 15.4 528 5167 0.00 1.90 0.00 0.000 6 0.000 0.044 3331 2555 2342 0 0 0 0 0 0

5304 0.76 146.0 217.8 14.5 541 5305 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 2552 2342 0 0 0 0 0 0

5431 0.76 146.0 200.4 13.4 553 5435 0.00 1.98 0.00 0.000 4 0.000 0.061 3331 3774 2342 0 0 0 0 0 0

5489 0.76 146.0 191.3 15.0 558 5498 0.08 1.92 0.00 0.000 6 0.157 0.043 3317 2561 2341 0 0 0 0 0 0

5627 0.76 146.0 173.7 12.0 571 5634 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2558 2341 0 0 0 0 0 0

5761 0.76 146.0 158.1 11.5 584 5765 0.00 1.95 0.00 0.000 4 0.000 0.061 3317 3767 2342 0 0 0 0 0 0

5808 0.76 146.0 151.3 14.5 588 5818 0.00 1.90 0.00 0.000 6 0.000 0.042 3324 2566 2341 0 0 0 0 0 0

5946 0.76 146.0 132.6 13.9 601 5954 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2566 2341 0 0 0 0 0 0

6081 0.76 146.0 115.7 12.4 614 6084 0.00 1.95 0.00 0.000 4 0.000 0.063 3324 3773 2341 0 0 0 0 0 0

6138 0.76 146.0 106.8 16.0 619 6148 0.00 1.90 0.00 0.000 6 0.000 0.044 3333 2571 2341 0 0 0 0 0 0

6278 0.76 146.0 88.8 13.4 639 6284 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2572 2341 0 0 0 0 0 0

6413 0.76 146.0 69.3 14.9 664 6421 0.00 1.98 0.00 0.000 4 0.000 0.062 3333 3767 2341 0 0 0 0 0 0

6438 0.76 146.0 65.3 15.6 668 6447 0.08 1.88 0.00 0.000 6 0.155 0.044 3317 2584 2341 0 0 0 0 0 0

6581 0.76 146.0 45.8 11.7 693 6588 0.00 1.92 0.00 0.000 4 0.000 0.063 3317 3768 2341 0 0 0 0 0 0

6642 0.76 146.0 37.0 15.5 704 6650 0.00 1.85 0.00 0.000 6 0.000 0.043 3324 2599 2341 0 0 0 0 0 0

6786 0.76 146.0 17.7 13.5 729 6793 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2597 2341 0 0 0 0 0 0

6892 end climb: SURFACE_DEPTH_REACHED

state 6892 begin surface coast

6912 end surface coast: FINISH_DEPTH_REACHED

state 6912 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	146	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	3	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	30	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	5	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	-27625.754	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	051210,155411,-7720.035,16505.637,291,4.4,301,144.0	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	-7640.000,16530.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051210,160722,-7720.003,16505.398,13,5.0,32,144.0	MHEAD_RNG_PITCHd_Wd	224.1,74827,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	475

FREEZE	1.23,-1.856,-0.980,2,1,0	_24V_AH	21.1,34.805
FINISH	1.2,1.014443	_10V_AH	10.0,20.404
SM_CCo	6927,133.48,0.741,1,0,1329,400.08	FG_AHR_24Vo	0.000
SM_GC	1.98,0.00,0.00,133.48,0.000,0.000,0.741,423,2654,1329,-8.26,0.11,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7630.39,16505.38,051210,080815	MEM	276296
TT8_MAMPS	0.028462	DATA_FILE_SIZE	50338,751
HUMID	51.06	CAP_FILE_SIZE	109459,0
INTERNAL_PRESSURE	8.7308	CFSIZE	260165632,244690944
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	GPS	051210,180637,-7719.259,16505.686,29,1.0,30,144.0
ALTIM_TOP_PING	19.4,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	205	80.22	SBE_CT	528	24	267.39
Roll_motor	73	123	192.07	AA4330	903	33	628.78
VBD_pump_during_apogee	274	1110	6441.20	WL_BBFL2VMT	878	105	1946.89
VBD_pump_during_surface	133	740	2085.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	65.28	nil	0	0	0.00
Iridium_during_connect	44	160	150.81	nil	0	0	0.00
Iridium_during_xfer	566	223	2663.98	nil	0	0	0.00
Transponder_ping	2	420	17.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.32
TT8	1805	19	357.50
LPSleep	2932	2	64.22
TT8_Active	552	19	109.41
TT8_Sampling	2395	39	953.23
TT8_CF8	179	45	82.37
TT8_Kalman	0	0	0.00
Analog_circuits	1309	12	157.09
GPS_charging	0	0	0.00
Compass	1240	15	186.08
RAFOS	0	0	0.00
Transponder	11	30	3.36

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	121	0.00	0.00	-104.05	0.000	2	0.000	0.000	413	2674	3238	0	0	0	0	0	0
124	-0.76	-146.0	3.2	-1.8	16	152	9.00	1.85	-10.10	0.000	4	0.206	0.081	2801	3752	3560	0	0	0	0	0	0
399	-0.76	-146.0	51.1	-18.5	65	406	0.00	1.77	0.00	0.000	6	0.000	0.045	2801	2627	3562	0	0	0	0	0	0
536	-0.76	-146.0	77.7	-19.0	90	544	0.00	1.90	0.00	0.000	4	0.000	0.064	2792	3758	3563	0	0	0	0	0	0
572	-0.76	-146.0	85.0	-19.7	96	580	0.00	1.77	0.00	0.000	6	0.000	0.043	2792	2652	3563	0	0	0	0	0	0
717	-0.76	-146.0	109.5	-16.5	117	718	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2652	3563	0	0	0	0	0	0
844	-0.76	-146.0	130.5	-16.6	129	848	0.00	1.80	0.00	0.000	4	0.000	0.067	2783	3756	3563	0	0	0	0	0	0
869	-0.76	-146.0	134.8	-17.8	131	873	0.12	1.70	0.00	0.000	6	0.172	0.044	2816	2665	3563	0	0	0	0	0	0
1011	-0.76	-146.0	155.3	-13.9	144	1018	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2663	3563	0	0	0	0	0	0
1145	-0.76	-146.0	174.6	-14.3	157	1146	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2663	3563	0	0	0	0	0	0
1273	-0.76	-146.0	194.3	-16.3	169	1274	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2663	3563	0	0	0	0	0	0
1400	-0.76	-146.0	214.8	-16.5	181	1404	0.00	1.77	0.00	0.000	4	0.000	0.064	2809	3760	3563	0	0	0	0	0	0
1436	-0.76	-146.0	221.6	-17.8	184	1446	0.00	1.75	0.00	0.000	6	0.000	0.044	2809	2657	3563	0	0	0	0	0	0
1573	-0.76	-146.0	242.1	-14.9	197	1576	0.00	1.80	0.00	0.000	4	0.000	0.066	2800	3763	3563	0	0	0	0	0	0
1596	-0.76	-146.0	245.8	-15.4	199	1600	0.00	1.67	0.00	0.000	6	0.000	0.044	2800	2679	3563	0	0	0	0	0	0
1737	-0.76	-146.0	266.8	-14.4	212	1738	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2677	3563	0	0	0	0	0	0
1927	-0.76	-146.0	294.2	-13.8	230	1928	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2677	3563	0	0	0	0	0	0
2117	-0.76	-146.0	321.8	-14.7	248	2121	0.00	1.75	0.00	0.000	4	0.000	0.066	2792	3756	3563	0	0	0	0	0	0
2175	-0.76	-146.0	330.4	-15.3	253	2179	0.00	1.67	0.00	0.000	6	0.000	0.044	2792	2675	3563	0	0	0	0	0	0
2378	-0.76	-146.0	360.9	-15.5	272	2379	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2674	3563	0	0	0	0	0	0
2569	-0.76	-146.0	389.9	-15.2	290	2573	0.00	1.75	0.00	0.000	4	0.000	0.066	2785	3756	3563	0	0	0	0	0	0
2607	-0.76	-146.0	396.3	-16.4	293	2615	0.08	1.70	0.00	0.000	6	0.152	0.044	2809	2684	3563	0	0	0	0	0	0
2805	-0.76	-146.0	424.2	-14.2	312	2806	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2684	3563	0	0	0	0	0	0
2997	-0.76	-146.0	450.0	-13.4	330	2998	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2684	3563	0	0	0	0	0	0
3186	end dive: TARGET_DEPTH_EXCEEDED
state	3186	begin apogee
3190	-0.17	0.0	475.8	13.3	348	3333	0.60	0.00	132.07	1.111	4	0.130	0.000	3006	2492	2959	0	0	0	0	0	0
3334	end apogee: CONTROL_FINISHED_OK
state	3334	begin climb
3335	0.76	146.0	480.4	0.0	361	3489	0.95	2.53	142.75	1.035	4	0.076	0.052	3310	1102	2364	0	0	0	0	0	0
3626	0.76	146.0	452.8	12.6	387	3630	0.00	2.40	0.00	0.000	6	0.000	0.055	3310	2492	2352	0	0	0	0	0	0
3823	0.76	146.0	426.8	13.2	405	3827	0.00	2.30	0.00	0.000	4	0.000	0.054	3319	1088	2349	0	0	0	0	0	0
3941	0.76	146.0	411.1	13.4	415	3945	0.00	2.35	0.00	0.000	6	0.000	0.057	3319	2518	2346	0	0	0	0	0	0
4138	0.76	146.0	384.7	13.6	433	4142	0.00	2.03	0.00	0.000	4	0.000	0.060	3318	3776	2346	0	0	0	0	0	0
4221	0.76	146.0	371.5	16.7	440	4228	0.00	1.95	0.00	0.000	6	0.000	0.043	3328	2539	2344	0	0	0	0	0	0
4419	0.76	146.0	342.1	14.9	459	4422	0.00	1.98	0.00	0.000	4	0.000	0.061	3328	3764	2344	0	0	0	0	0	0
4445	0.76	146.0	337.5	16.8	461	4453	0.00	1.95	0.00	0.000	6	0.000	0.042	3337	2543	2344	0	0	0	0	0	0
4643	0.76	146.0	308.1	14.8	480	4647	0.00	1.98	0.00	0.000	4	0.000	0.061	3337	3764	2343	0	0	0	0	0	0
4669	0.76	146.0	303.5	17.0	482	4679	0.10	1.95	0.00	0.000	6	0.148	0.042	3314	2542	2342	0	0	0	0	0	0
4869	0.76	146.0	278.4	11.7	501	4873	0.00	1.98	0.00	0.000	4	0.000	0.061	3315	3766	2342	0	0	0	0	0	0
4918	0.76	146.0	270.8	14.8	505	4926	0.00	1.92	0.00	0.000	6	0.000	0.042	3322	2552	2342	0	0	0	0	0	0
5118	0.76	146.0	244.4	13.2	524	5122	0.00	1.98	0.00	0.000	4	0.000	0.062	3322	3774	2342	0	0	0	0	0	0
5163	0.76	146.0	237.7	15.4	528	5167	0.00	1.90	0.00	0.000	6	0.000	0.044	3331	2555	2342	0	0	0	0	0	0
5304	0.76	146.0	217.8	14.5	541	5305	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	2552	2342	0	0	0	0	0	0
5431	0.76	146.0	200.4	13.4	553	5435	0.00	1.98	0.00	0.000	4	0.000	0.061	3331	3774	2342	0	0	0	0	0	0
5489	0.76	146.0	191.3	15.0	558	5498	0.08	1.92	0.00	0.000	6	0.157	0.043	3317	2561	2341	0	0	0	0	0	0
5627	0.76	146.0	173.7	12.0	571	5634	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2558	2341	0	0	0	0	0	0
5761	0.76	146.0	158.1	11.5	584	5765	0.00	1.95	0.00	0.000	4	0.000	0.061	3317	3767	2342	0	0	0	0	0	0
5808	0.76	146.0	151.3	14.5	588	5818	0.00	1.90	0.00	0.000	6	0.000	0.042	3324	2566	2341	0	0	0	0	0	0
5946	0.76	146.0	132.6	13.9	601	5954	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2566	2341	0	0	0	0	0	0
6081	0.76	146.0	115.7	12.4	614	6084	0.00	1.95	0.00	0.000	4	0.000	0.063	3324	3773	2341	0	0	0	0	0	0
6138	0.76	146.0	106.8	16.0	619	6148	0.00	1.90	0.00	0.000	6	0.000	0.044	3333	2571	2341	0	0	0	0	0	0
6278	0.76	146.0	88.8	13.4	639	6284	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2572	2341	0	0	0	0	0	0
6413	0.76	146.0	69.3	14.9	664	6421	0.00	1.98	0.00	0.000	4	0.000	0.062	3333	3767	2341	0	0	0	0	0	0
6438	0.76	146.0	65.3	15.6	668	6447	0.08	1.88	0.00	0.000	6	0.155	0.044	3317	2584	2341	0	0	0	0	0	0
6581	0.76	146.0	45.8	11.7	693	6588	0.00	1.92	0.00	0.000	4	0.000	0.063	3317	3768	2341	0	0	0	0	0	0
6642	0.76	146.0	37.0	15.5	704	6650	0.00	1.85	0.00	0.000	6	0.000	0.043	3324	2599	2341	0	0	0	0	0	0
6786	0.76	146.0	17.7	13.5	729	6793	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2597	2341	0	0	0	0	0	0
6892	end climb: SURFACE_DEPTH_REACHED
state	6892	begin surface coast
6912	end surface coast: FINISH_DEPTH_REACHED
state	6912	begin surface