Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 147 * 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 147 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 25 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 -27627.008 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 -27627.008

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 33 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 25 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 147 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 051210,180637,-7719.259,16505.686,29,1.0,30,144.0 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG -7640.000,16530.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051210,181214,-7719.242,16505.639,13,1.0,13,144.0 MHEAD_RNG_PITCHd_Wd 224.1,73417,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 476

Post-dive calculations and measurements:

FREEZE 1.63,-1.852,-1.902,2,1,0 _24V_AH 21.1,34.930

FINISH 1.6,1.027873 _10V_AH 10.0,20.491

SM_CCo 6890,133.98,0.753,1,0,1330,400.08 FG_AHR_24Vo 0.000

SM_GC 2.06,0.00,0.00,133.98,0.000,0.000,0.753,413,2634,1330,-8.28,-0.45,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7639.69,16541.04,051210,151515 MEM 276292

TT8_MAMPS 0.028462 DATA_FILE_SIZE 50397,754

HUMID 51.14 CAP_FILE_SIZE 101828,0

INTERNAL_PRESSURE 8.7308 CFSIZE 260165632,244641792

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 GPS 051210,201052,-7718.339,16505.643,11,3.4,30,143.9

ALTIM_TOP_PING 19.5,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 209 82.37 SBE_CT 530 24 268.43

Roll_motor 78 66 110.84 AA4330 912 33 635.53

VBD_pump_during_apogee 274 1103 6394.51 WL_BBFL2VMT 890 105 1971.88

VBD_pump_during_surface 133 752 2127.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 59.36 nil 0 0 0.00

Iridium_during_connect 41 160 139.52 nil 0 0 0.00

Iridium_during_xfer 174 223 821.43 nil 0 0 0.00

Transponder_ping 2 420 19.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.30

TT8 1805 19 357.39

LPSleep 2901 2 63.54

TT8_Active 556 19 110.25

TT8_Sampling 1976 39 786.60

TT8_CF8 132 45 60.74

TT8_Kalman 0 0 0.00

Analog_circuits 1309 12 157.10

GPS_charging 0 0 0.00

Compass 1228 15 184.27

RAFOS 0 0 0.00

Transponder 14 30 4.24

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 0 123 0.00 0.00 -104.53 0.000 2 0.000 0.000 419 2655 3257 0 0 0 0 0 0

125 -0.76 -146.0 3.2 -1.8 16 154 9.12 2.35 -9.48 0.000 4 0.210 0.066 2815 1250 3560 0 0 0 0 0 0

401 -0.76 -146.0 42.0 -13.0 65 408 0.00 2.30 0.00 0.000 6 0.000 0.058 2807 2649 3562 0 0 0 0 0 0

537 -0.76 -146.0 64.2 -17.7 90 545 0.00 2.30 0.00 0.000 4 0.000 0.052 2806 1241 3563 0 0 0 0 0 0

560 -0.76 -146.0 67.6 -16.2 93 567 0.00 2.33 0.00 0.000 6 0.000 0.059 2798 2653 3563 0 0 0 0 0 0

697 -0.76 -146.0 90.1 -16.6 118 706 0.00 1.83 0.00 0.000 4 0.000 0.062 2790 3767 3563 0 0 0 0 0 0

744 -0.76 -146.0 98.2 -17.5 126 753 0.00 1.77 0.00 0.000 6 0.000 0.044 2789 2661 3563 0 0 0 0 0 0

888 -0.76 -146.0 121.5 -16.2 140 889 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2660 3563 0 0 0 0 0 0

1015 -0.76 -146.0 142.5 -16.2 152 1018 0.00 1.80 0.00 0.000 4 0.000 0.065 2782 3767 3563 0 0 0 0 0 0

1040 -0.76 -146.0 147.4 -16.8 154 1050 0.10 1.75 0.00 0.000 6 0.148 0.044 2814 2667 3563 0 0 0 0 0 0

1178 -0.76 -146.0 167.6 -15.5 167 1185 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2667 3563 0 0 0 0 0 0

1312 -0.76 -146.0 188.1 -15.0 180 1316 0.00 1.77 0.00 0.000 4 0.000 0.064 2807 3764 3563 0 0 0 0 0 0

1338 -0.76 -146.0 192.7 -15.8 182 1347 0.00 1.75 0.00 0.000 6 0.000 0.044 2807 2662 3563 0 0 0 0 0 0

1474 -0.76 -146.0 212.7 -15.1 195 1475 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2662 3563 0 0 0 0 0 0

1601 -0.76 -146.0 232.1 -14.9 207 1604 0.00 1.80 0.00 0.000 4 0.000 0.065 2799 3769 3563 0 0 0 0 0 0

1637 -0.76 -146.0 238.3 -16.4 210 1646 0.00 1.73 0.00 0.000 6 0.000 0.044 2799 2680 3563 0 0 0 0 0 0

1772 -0.76 -146.0 259.1 -15.9 223 1773 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2680 3563 0 0 0 0 0 0

1962 -0.76 -146.0 288.8 -15.2 241 1966 0.00 1.80 0.00 0.000 4 0.000 0.065 2790 3760 3563 0 0 0 0 0 0

1986 -0.76 -146.0 292.6 -16.9 243 1989 0.00 1.67 0.00 0.000 6 0.000 0.044 2790 2679 3563 0 0 0 0 0 0

2188 -0.76 -146.0 325.6 -16.4 262 2189 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2678 3563 0 0 0 0 0 0

2379 -0.76 -146.0 355.4 -15.5 280 2381 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2678 3563 0 0 0 0 0 0

2572 -0.76 -146.0 385.3 -15.4 298 2573 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2678 3563 0 0 0 0 0 0

2762 -0.76 -146.0 414.4 -15.1 316 2765 0.00 1.77 0.00 0.000 4 0.000 0.067 2783 3768 3563 0 0 0 0 0 0

2796 -0.76 -146.0 419.8 -16.1 319 2800 0.12 1.67 0.00 0.000 6 0.171 0.045 2815 2687 3563 0 0 0 0 0 0

3000 -0.76 -146.0 447.0 -13.6 338 3001 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2685 3563 0 0 0 0 0 0

3189 -0.76 -146.0 472.5 -13.0 356 3193 0.00 1.75 0.00 0.000 4 0.000 0.065 2809 3763 3563 0 0 0 0 0 0

3214 end dive: TARGET_DEPTH_EXCEEDED

state 3214 begin apogee

3221 -0.17 0.0 476.4 13.9 358 3358 0.60 0.00 131.60 1.103 4 0.130 0.000 3003 2495 2960 0 0 0 0 0 0

3359 end apogee: CONTROL_FINISHED_OK

state 3359 begin climb

3361 0.76 146.0 481.2 0.0 371 3515 0.98 2.53 143.12 1.032 4 0.076 0.052 3314 1098 2363 0 0 0 0 0 0

3628 0.76 146.0 455.2 13.1 395 3632 0.00 2.45 0.00 0.000 6 0.000 0.054 3314 2507 2353 0 0 0 0 0 0

3825 0.76 146.0 428.6 14.1 413 3829 0.00 2.35 0.00 0.000 4 0.000 0.053 3323 1087 2349 0 0 0 0 0 0

3942 0.76 146.0 412.5 13.3 423 3949 0.00 2.40 0.00 0.000 6 0.000 0.056 3323 2516 2346 0 0 0 0 0 0

4142 0.76 146.0 384.2 14.3 442 4145 0.00 2.00 0.00 0.000 4 0.000 0.060 3323 3764 2345 0 0 0 0 0 0

4224 0.76 146.0 370.0 16.5 449 4232 0.00 1.98 0.00 0.000 6 0.000 0.042 3333 2531 2344 0 0 0 0 0 0

4423 0.76 146.0 341.3 14.6 468 4426 0.00 2.00 0.00 0.000 4 0.000 0.062 3333 3768 2343 0 0 0 0 0 0

4449 0.76 146.0 336.6 15.7 470 4458 0.08 1.95 0.00 0.000 6 0.153 0.041 3318 2545 2343 0 0 0 0 0 0

4649 0.76 146.0 309.5 13.5 489 4650 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2543 2343 0 0 0 0 0 0

4839 0.76 146.0 284.3 13.2 507 4842 0.00 1.98 0.00 0.000 4 0.000 0.063 3317 3764 2343 0 0 0 0 0 0

4910 0.76 146.0 273.1 16.4 513 4918 0.00 1.95 0.00 0.000 6 0.000 0.042 3325 2541 2342 0 0 0 0 0 0

5109 0.76 146.0 245.4 13.9 532 5111 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2540 2342 0 0 0 0 0 0

5237 0.76 146.0 228.2 13.4 544 5241 0.00 1.98 0.00 0.000 4 0.000 0.063 3325 3764 2341 0 0 0 0 0 0

5293 0.76 146.0 219.8 15.2 549 5297 0.00 1.90 0.00 0.000 6 0.000 0.043 3335 2539 2341 0 0 0 0 0 0

5435 0.76 146.0 199.8 14.2 562 5443 0.00 0.00 0.00 0.000 6 0.000 0.000 3334 2537 2342 0 0 0 0 0 0

5570 0.76 146.0 181.3 13.5 575 5574 0.00 1.98 0.00 0.000 4 0.000 0.060 3335 3767 2341 0 0 0 0 0 0

5606 0.76 146.0 175.4 15.9 578 5615 0.00 1.92 0.00 0.000 6 0.000 0.042 3344 2552 2341 0 0 0 0 0 0

5742 0.76 146.0 156.0 14.5 591 5744 0.12 0.00 0.00 0.000 6 0.169 0.000 3311 2551 2341 0 0 0 0 0 0

5869 0.76 146.0 140.0 12.4 603 5873 0.00 1.95 0.00 0.000 4 0.000 0.062 3311 3764 2341 0 0 0 0 0 0

5914 0.76 146.0 133.7 14.4 607 5917 0.00 1.88 0.00 0.000 6 0.000 0.043 3319 2550 2341 0 0 0 0 0 0

6054 0.76 146.0 115.3 12.9 620 6056 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2548 2341 0 0 0 0 0 0

6182 0.76 146.0 99.6 12.4 632 6190 0.00 2.00 0.00 0.000 4 0.000 0.062 3319 3757 2341 0 0 0 0 0 0

6218 0.76 146.0 94.5 13.7 638 6226 0.00 1.90 0.00 0.000 6 0.000 0.044 3328 2558 2341 0 0 0 0 0 0

6360 0.76 146.0 75.2 13.3 663 6366 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2556 2341 0 0 0 0 0 0

6495 0.76 146.0 56.4 13.4 688 6504 0.00 2.00 0.00 0.000 4 0.000 0.062 3329 3769 2341 0 0 0 0 0 0

6527 0.76 146.0 52.0 14.0 693 6534 0.00 1.90 0.00 0.000 6 0.000 0.044 3338 2551 2340 0 0 0 0 0 0

6666 0.76 146.0 32.9 14.2 718 6673 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 2549 2340 0 0 0 0 0 0

6806 0.76 146.0 12.6 15.1 743 6813 0.00 1.98 0.00 0.000 4 0.000 0.061 3338 3767 2340 0 0 0 0 0 0

6866 end climb: SURFACE_DEPTH_REACHED

state 6866 begin surface coast

6874 end surface coast: CONTROL_FINISHED_OK

state 6874 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	147	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	25	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	-27627.008	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	051210,180637,-7719.259,16505.686,29,1.0,30,144.0	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	-7640.000,16530.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051210,181214,-7719.242,16505.639,13,1.0,13,144.0	MHEAD_RNG_PITCHd_Wd	224.1,73417,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	476

FREEZE	1.63,-1.852,-1.902,2,1,0	_24V_AH	21.1,34.930
FINISH	1.6,1.027873	_10V_AH	10.0,20.491
SM_CCo	6890,133.98,0.753,1,0,1330,400.08	FG_AHR_24Vo	0.000
SM_GC	2.06,0.00,0.00,133.98,0.000,0.000,0.753,413,2634,1330,-8.28,-0.45,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7639.69,16541.04,051210,151515	MEM	276292
TT8_MAMPS	0.028462	DATA_FILE_SIZE	50397,754
HUMID	51.14	CAP_FILE_SIZE	101828,0
INTERNAL_PRESSURE	8.7308	CFSIZE	260165632,244641792
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	GPS	051210,201052,-7718.339,16505.643,11,3.4,30,143.9
ALTIM_TOP_PING	19.5,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	209	82.37	SBE_CT	530	24	268.43
Roll_motor	78	66	110.84	AA4330	912	33	635.53
VBD_pump_during_apogee	274	1103	6394.51	WL_BBFL2VMT	890	105	1971.88
VBD_pump_during_surface	133	752	2127.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	59.36	nil	0	0	0.00
Iridium_during_connect	41	160	139.52	nil	0	0	0.00
Iridium_during_xfer	174	223	821.43	nil	0	0	0.00
Transponder_ping	2	420	19.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.30
TT8	1805	19	357.39
LPSleep	2901	2	63.54
TT8_Active	556	19	110.25
TT8_Sampling	1976	39	786.60
TT8_CF8	132	45	60.74
TT8_Kalman	0	0	0.00
Analog_circuits	1309	12	157.10
GPS_charging	0	0	0.00
Compass	1228	15	184.27
RAFOS	0	0	0.00
Transponder	14	30	4.24

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	123	0.00	0.00	-104.53	0.000	2	0.000	0.000	419	2655	3257	0	0	0	0	0	0
125	-0.76	-146.0	3.2	-1.8	16	154	9.12	2.35	-9.48	0.000	4	0.210	0.066	2815	1250	3560	0	0	0	0	0	0
401	-0.76	-146.0	42.0	-13.0	65	408	0.00	2.30	0.00	0.000	6	0.000	0.058	2807	2649	3562	0	0	0	0	0	0
537	-0.76	-146.0	64.2	-17.7	90	545	0.00	2.30	0.00	0.000	4	0.000	0.052	2806	1241	3563	0	0	0	0	0	0
560	-0.76	-146.0	67.6	-16.2	93	567	0.00	2.33	0.00	0.000	6	0.000	0.059	2798	2653	3563	0	0	0	0	0	0
697	-0.76	-146.0	90.1	-16.6	118	706	0.00	1.83	0.00	0.000	4	0.000	0.062	2790	3767	3563	0	0	0	0	0	0
744	-0.76	-146.0	98.2	-17.5	126	753	0.00	1.77	0.00	0.000	6	0.000	0.044	2789	2661	3563	0	0	0	0	0	0
888	-0.76	-146.0	121.5	-16.2	140	889	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2660	3563	0	0	0	0	0	0
1015	-0.76	-146.0	142.5	-16.2	152	1018	0.00	1.80	0.00	0.000	4	0.000	0.065	2782	3767	3563	0	0	0	0	0	0
1040	-0.76	-146.0	147.4	-16.8	154	1050	0.10	1.75	0.00	0.000	6	0.148	0.044	2814	2667	3563	0	0	0	0	0	0
1178	-0.76	-146.0	167.6	-15.5	167	1185	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2667	3563	0	0	0	0	0	0
1312	-0.76	-146.0	188.1	-15.0	180	1316	0.00	1.77	0.00	0.000	4	0.000	0.064	2807	3764	3563	0	0	0	0	0	0
1338	-0.76	-146.0	192.7	-15.8	182	1347	0.00	1.75	0.00	0.000	6	0.000	0.044	2807	2662	3563	0	0	0	0	0	0
1474	-0.76	-146.0	212.7	-15.1	195	1475	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2662	3563	0	0	0	0	0	0
1601	-0.76	-146.0	232.1	-14.9	207	1604	0.00	1.80	0.00	0.000	4	0.000	0.065	2799	3769	3563	0	0	0	0	0	0
1637	-0.76	-146.0	238.3	-16.4	210	1646	0.00	1.73	0.00	0.000	6	0.000	0.044	2799	2680	3563	0	0	0	0	0	0
1772	-0.76	-146.0	259.1	-15.9	223	1773	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2680	3563	0	0	0	0	0	0
1962	-0.76	-146.0	288.8	-15.2	241	1966	0.00	1.80	0.00	0.000	4	0.000	0.065	2790	3760	3563	0	0	0	0	0	0
1986	-0.76	-146.0	292.6	-16.9	243	1989	0.00	1.67	0.00	0.000	6	0.000	0.044	2790	2679	3563	0	0	0	0	0	0
2188	-0.76	-146.0	325.6	-16.4	262	2189	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2678	3563	0	0	0	0	0	0
2379	-0.76	-146.0	355.4	-15.5	280	2381	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2678	3563	0	0	0	0	0	0
2572	-0.76	-146.0	385.3	-15.4	298	2573	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2678	3563	0	0	0	0	0	0
2762	-0.76	-146.0	414.4	-15.1	316	2765	0.00	1.77	0.00	0.000	4	0.000	0.067	2783	3768	3563	0	0	0	0	0	0
2796	-0.76	-146.0	419.8	-16.1	319	2800	0.12	1.67	0.00	0.000	6	0.171	0.045	2815	2687	3563	0	0	0	0	0	0
3000	-0.76	-146.0	447.0	-13.6	338	3001	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2685	3563	0	0	0	0	0	0
3189	-0.76	-146.0	472.5	-13.0	356	3193	0.00	1.75	0.00	0.000	4	0.000	0.065	2809	3763	3563	0	0	0	0	0	0
3214	end dive: TARGET_DEPTH_EXCEEDED
state	3214	begin apogee
3221	-0.17	0.0	476.4	13.9	358	3358	0.60	0.00	131.60	1.103	4	0.130	0.000	3003	2495	2960	0	0	0	0	0	0
3359	end apogee: CONTROL_FINISHED_OK
state	3359	begin climb
3361	0.76	146.0	481.2	0.0	371	3515	0.98	2.53	143.12	1.032	4	0.076	0.052	3314	1098	2363	0	0	0	0	0	0
3628	0.76	146.0	455.2	13.1	395	3632	0.00	2.45	0.00	0.000	6	0.000	0.054	3314	2507	2353	0	0	0	0	0	0
3825	0.76	146.0	428.6	14.1	413	3829	0.00	2.35	0.00	0.000	4	0.000	0.053	3323	1087	2349	0	0	0	0	0	0
3942	0.76	146.0	412.5	13.3	423	3949	0.00	2.40	0.00	0.000	6	0.000	0.056	3323	2516	2346	0	0	0	0	0	0
4142	0.76	146.0	384.2	14.3	442	4145	0.00	2.00	0.00	0.000	4	0.000	0.060	3323	3764	2345	0	0	0	0	0	0
4224	0.76	146.0	370.0	16.5	449	4232	0.00	1.98	0.00	0.000	6	0.000	0.042	3333	2531	2344	0	0	0	0	0	0
4423	0.76	146.0	341.3	14.6	468	4426	0.00	2.00	0.00	0.000	4	0.000	0.062	3333	3768	2343	0	0	0	0	0	0
4449	0.76	146.0	336.6	15.7	470	4458	0.08	1.95	0.00	0.000	6	0.153	0.041	3318	2545	2343	0	0	0	0	0	0
4649	0.76	146.0	309.5	13.5	489	4650	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2543	2343	0	0	0	0	0	0
4839	0.76	146.0	284.3	13.2	507	4842	0.00	1.98	0.00	0.000	4	0.000	0.063	3317	3764	2343	0	0	0	0	0	0
4910	0.76	146.0	273.1	16.4	513	4918	0.00	1.95	0.00	0.000	6	0.000	0.042	3325	2541	2342	0	0	0	0	0	0
5109	0.76	146.0	245.4	13.9	532	5111	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2540	2342	0	0	0	0	0	0
5237	0.76	146.0	228.2	13.4	544	5241	0.00	1.98	0.00	0.000	4	0.000	0.063	3325	3764	2341	0	0	0	0	0	0
5293	0.76	146.0	219.8	15.2	549	5297	0.00	1.90	0.00	0.000	6	0.000	0.043	3335	2539	2341	0	0	0	0	0	0
5435	0.76	146.0	199.8	14.2	562	5443	0.00	0.00	0.00	0.000	6	0.000	0.000	3334	2537	2342	0	0	0	0	0	0
5570	0.76	146.0	181.3	13.5	575	5574	0.00	1.98	0.00	0.000	4	0.000	0.060	3335	3767	2341	0	0	0	0	0	0
5606	0.76	146.0	175.4	15.9	578	5615	0.00	1.92	0.00	0.000	6	0.000	0.042	3344	2552	2341	0	0	0	0	0	0
5742	0.76	146.0	156.0	14.5	591	5744	0.12	0.00	0.00	0.000	6	0.169	0.000	3311	2551	2341	0	0	0	0	0	0
5869	0.76	146.0	140.0	12.4	603	5873	0.00	1.95	0.00	0.000	4	0.000	0.062	3311	3764	2341	0	0	0	0	0	0
5914	0.76	146.0	133.7	14.4	607	5917	0.00	1.88	0.00	0.000	6	0.000	0.043	3319	2550	2341	0	0	0	0	0	0
6054	0.76	146.0	115.3	12.9	620	6056	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2548	2341	0	0	0	0	0	0
6182	0.76	146.0	99.6	12.4	632	6190	0.00	2.00	0.00	0.000	4	0.000	0.062	3319	3757	2341	0	0	0	0	0	0
6218	0.76	146.0	94.5	13.7	638	6226	0.00	1.90	0.00	0.000	6	0.000	0.044	3328	2558	2341	0	0	0	0	0	0
6360	0.76	146.0	75.2	13.3	663	6366	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2556	2341	0	0	0	0	0	0
6495	0.76	146.0	56.4	13.4	688	6504	0.00	2.00	0.00	0.000	4	0.000	0.062	3329	3769	2341	0	0	0	0	0	0
6527	0.76	146.0	52.0	14.0	693	6534	0.00	1.90	0.00	0.000	6	0.000	0.044	3338	2551	2340	0	0	0	0	0	0
6666	0.76	146.0	32.9	14.2	718	6673	0.00	0.00	0.00	0.000	6	0.000	0.000	3338	2549	2340	0	0	0	0	0	0
6806	0.76	146.0	12.6	15.1	743	6813	0.00	1.98	0.00	0.000	4	0.000	0.061	3338	3767	2340	0	0	0	0	0	0
6866	end climb: SURFACE_DEPTH_REACHED
state	6866	begin surface coast
6874	end surface coast: CONTROL_FINISHED_OK
state	6874	begin surface