Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 149 * 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 149 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 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 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 -27629.523 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 -27629.523

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 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 149 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 051210,221814,-7717.432,16506.492,8,1.5,9,143.8 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 1.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051210,222355,-7717.414,16506.465,12,1.3,12,143.8 MHEAD_RNG_PITCHd_Wd 224.5,70016,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 479

Post-dive calculations and measurements:

FREEZE 1.24,-1.815,-0.977,2,1,0 _24V_AH 21.1,35.181

FINISH 1.2,1.014398 _10V_AH 10.0,20.667

SM_CCo 6872,133.68,0.739,1,0,1330,400.08 FG_AHR_24Vo 0.000

SM_GC 2.03,0.00,0.00,133.68,0.000,0.000,0.739,413,2663,1330,-8.28,0.37,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7639.69,16533.94,051210,202014 MEM 276268

TT8_MAMPS 0.029211 DATA_FILE_SIZE 50512,748

HUMID 51.45 CAP_FILE_SIZE 103402,0

INTERNAL_PRESSURE 8.7308 CFSIZE 260165632,244523008

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

XPDR_PINGS 3 GPS 061210,002225,-7716.885,16507.781,40,1.6,41,143.8

ALTIM_TOP_PING 19.3,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 208 81.55 SBE_CT 526 24 266.49

Roll_motor 76 122 198.09 AA4330 903 33 628.84

VBD_pump_during_apogee 274 1099 6356.10 WL_BBFL2VMT 876 105 1941.99

VBD_pump_during_surface 133 738 2084.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 64.34 nil 0 0 0.00

Iridium_during_connect 40 160 136.24 nil 0 0 0.00

Iridium_during_xfer 178 223 841.43 nil 0 0 0.00

Transponder_ping 2 420 19.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.42

TT8 1811 19 358.73

LPSleep 2887 2 63.23

TT8_Active 539 19 106.90

TT8_Sampling 1978 39 787.46

TT8_CF8 140 45 64.24

TT8_Kalman 0 0 0.00

Analog_circuits 1293 12 155.20

GPS_charging 0 0 0.00

Compass 1234 15 185.23

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

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 -104.78 0.000 2 0.000 0.000 421 2673 3262 0 0 0 0 0 0

125 -0.76 -146.0 3.2 -2.2 16 154 9.07 1.88 -9.25 0.000 4 0.208 0.082 2804 3753 3560 0 0 0 0 0 0

400 -0.76 -146.0 49.0 -15.7 65 407 0.00 1.77 0.00 0.000 6 0.000 0.045 2804 2629 3562 0 0 0 0 0 0

537 -0.76 -146.0 71.3 -15.7 90 545 0.00 1.88 0.00 0.000 4 0.000 0.066 2797 3745 3562 0 0 0 0 0 0

584 -0.76 -146.0 79.1 -16.9 98 592 0.00 1.75 0.00 0.000 6 0.000 0.045 2797 2656 3562 0 0 0 0 0 0

724 -0.76 -146.0 102.0 -16.7 122 725 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2655 3562 0 0 0 0 0 0

851 -0.76 -146.0 122.8 -16.2 134 854 0.00 1.80 0.00 0.000 4 0.000 0.066 2788 3760 3562 0 0 0 0 0 0

887 -0.76 -146.0 129.5 -17.0 137 896 0.00 1.75 0.00 0.000 6 0.000 0.044 2788 2666 3562 0 0 0 0 0 0

1023 -0.76 -146.0 150.9 -15.8 150 1025 0.10 0.00 0.00 0.000 6 0.187 0.000 2813 2666 3562 0 0 0 0 0 0

1150 -0.76 -146.0 169.4 -14.3 162 1154 0.00 1.77 0.00 0.000 4 0.000 0.064 2806 3763 3563 0 0 0 0 0 0

1184 -0.76 -146.0 174.4 -15.1 165 1188 0.00 1.70 0.00 0.000 6 0.000 0.044 2806 2666 3563 0 0 0 0 0 0

1325 -0.76 -146.0 195.9 -15.1 178 1326 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2665 3563 0 0 0 0 0 0

1452 -0.76 -146.0 215.5 -15.3 190 1456 0.00 1.77 0.00 0.000 4 0.000 0.064 2798 3762 3563 0 0 0 0 0 0

1498 -0.76 -146.0 222.9 -16.5 194 1502 0.00 1.70 0.00 0.000 6 0.000 0.044 2798 2665 3563 0 0 0 0 0 0

1639 -0.76 -146.0 245.5 -16.0 207 1640 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2663 3563 0 0 0 0 0 0

1764 -0.76 -146.0 266.0 -16.1 219 1765 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2663 3563 0 0 0 0 0 0

1956 -0.76 -146.0 297.2 -16.4 237 1959 0.00 1.77 0.00 0.000 4 0.000 0.064 2791 3763 3562 0 0 0 0 0 0

2016 -0.76 -146.0 307.9 -16.8 242 2024 0.00 1.70 0.00 0.000 6 0.000 0.044 2790 2690 3563 0 0 0 0 0 0

2215 -0.76 -146.0 339.6 -15.9 261 2218 0.00 1.77 0.00 0.000 4 0.000 0.065 2782 3758 3563 0 0 0 0 0 0

2248 -0.76 -146.0 345.6 -17.6 264 2252 0.12 1.65 0.00 0.000 6 0.172 0.044 2815 2689 3563 0 0 0 0 0 0

2451 -0.76 -146.0 374.2 -13.4 283 2452 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2687 3563 0 0 0 0 0 0

2642 -0.76 -146.0 398.8 -12.8 301 2645 0.00 1.73 0.00 0.000 4 0.000 0.064 2808 3756 3563 0 0 0 0 0 0

2668 -0.76 -146.0 402.8 -14.0 303 2676 0.00 1.70 0.00 0.000 6 0.000 0.044 2808 2688 3562 0 0 0 0 0 0

2869 -0.76 -146.0 428.6 -12.9 322 2870 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2688 3562 0 0 0 0 0 0

3058 -0.76 -146.0 453.0 -13.0 340 3059 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2688 3562 0 0 0 0 0 0

3249 -0.76 -146.0 477.8 -12.7 358 3250 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2688 3563 0 0 0 0 0 0

3258 end dive: TARGET_DEPTH_EXCEEDED

state 3259 begin apogee

3263 -0.17 0.0 479.1 12.8 359 3404 0.60 0.00 131.35 1.099 4 0.131 0.000 3003 2494 2959 0 0 0 0 0 0

3405 end apogee: CONTROL_FINISHED_OK

state 3405 begin climb

3407 0.76 146.0 482.8 0.0 372 3561 0.95 2.50 142.68 1.027 4 0.076 0.052 3308 1104 2364 0 0 0 0 0 0

3684 0.76 146.0 453.9 12.4 397 3689 0.00 2.40 0.00 0.000 6 0.000 0.055 3308 2489 2352 0 0 0 0 0 0

3883 0.76 146.0 426.0 14.7 415 3887 0.00 2.30 0.00 0.000 4 0.000 0.054 3315 1094 2349 0 0 0 0 0 0

4001 0.76 146.0 409.3 13.5 425 4005 0.00 2.38 0.00 0.000 6 0.000 0.057 3315 2529 2346 0 0 0 0 0 0

4204 0.76 146.0 379.4 14.2 444 4207 0.00 2.00 0.00 0.000 4 0.000 0.061 3315 3771 2345 0 0 0 0 0 0

4282 0.76 146.0 366.2 16.7 451 4286 0.00 1.95 0.00 0.000 6 0.000 0.044 3325 2531 2345 0 0 0 0 0 0

4487 0.76 146.0 334.8 13.9 470 4490 0.00 2.03 0.00 0.000 4 0.000 0.062 3324 3777 2344 0 0 0 0 0 0

4547 0.76 146.0 324.8 16.6 475 4555 0.00 1.98 0.00 0.000 6 0.000 0.043 3334 2539 2344 0 0 0 0 0 0

4747 0.76 146.0 295.9 14.6 494 4750 0.00 1.98 0.00 0.000 4 0.000 0.061 3334 3764 2343 0 0 0 0 0 0

4784 0.76 146.0 289.2 17.5 497 4793 0.08 1.95 0.00 0.000 6 0.153 0.042 3320 2544 2343 0 0 0 0 0 0

4982 0.76 146.0 261.6 13.5 516 4986 0.00 1.98 0.00 0.000 4 0.000 0.061 3319 3770 2342 0 0 0 0 0 0

5033 0.76 146.0 253.7 16.8 520 5040 0.00 1.90 0.00 0.000 6 0.000 0.044 3327 2559 2342 0 0 0 0 0 0

5233 0.76 146.0 225.3 14.4 539 5234 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2556 2342 0 0 0 0 0 0

5359 0.76 146.0 207.2 14.2 551 5362 0.00 1.95 0.00 0.000 4 0.000 0.062 3327 3768 2341 0 0 0 0 0 0

5394 0.76 146.0 202.0 15.7 554 5398 0.00 1.88 0.00 0.000 6 0.000 0.043 3337 2558 2342 0 0 0 0 0 0

5536 0.76 146.0 181.3 14.2 567 5540 0.00 1.95 0.00 0.000 4 0.000 0.061 3337 3765 2342 0 0 0 0 0 0

5572 0.76 146.0 175.7 15.5 570 5576 0.12 1.85 0.00 0.000 6 0.175 0.042 3313 2565 2342 0 0 0 0 0 0

5714 0.76 146.0 156.8 12.6 583 5721 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2564 2342 0 0 0 0 0 0

5848 0.76 146.0 139.7 12.6 596 5852 0.00 1.95 0.00 0.000 4 0.000 0.061 3313 3778 2341 0 0 0 0 0 0

5882 0.76 146.0 135.0 14.5 599 5886 0.00 1.88 0.00 0.000 6 0.000 0.044 3320 2566 2341 0 0 0 0 0 0

6023 0.76 146.0 116.3 13.0 612 6025 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2565 2342 0 0 0 0 0 0

6150 0.76 146.0 99.1 13.2 624 6158 0.00 1.98 0.00 0.000 4 0.000 0.063 3320 3758 2341 0 0 0 0 0 0

6186 0.76 146.0 93.6 15.1 630 6195 0.00 1.88 0.00 0.000 6 0.000 0.043 3330 2576 2341 0 0 0 0 0 0

6329 0.76 146.0 75.1 12.5 655 6335 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2575 2341 0 0 0 0 0 0

6465 0.76 146.0 56.5 14.2 680 6473 0.00 1.95 0.00 0.000 4 0.000 0.062 3330 3758 2341 0 0 0 0 0 0

6522 0.76 146.0 47.6 15.4 690 6530 0.00 1.85 0.00 0.000 6 0.000 0.042 3339 2589 2341 0 0 0 0 0 0

6664 0.76 146.0 27.9 14.4 715 6671 0.00 1.92 0.00 0.000 4 0.000 0.062 3339 3777 2341 0 0 0 0 0 0

6693 0.76 146.0 22.6 15.9 720 6701 0.10 1.88 0.00 0.000 6 0.153 0.044 3315 2597 2341 0 0 0 0 0 0

6837 0.76 146.0 3.4 13.3 745 6844 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2595 2340 0 0 0 0 0 0

6851 end climb: SURFACE_DEPTH_REACHED

state 6851 begin surface coast

6857 end surface coast: FINISH_DEPTH_REACHED

state 6857 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	149	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	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	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	-27629.523	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	051210,221814,-7717.432,16506.492,8,1.5,9,143.8	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	1.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051210,222355,-7717.414,16506.465,12,1.3,12,143.8	MHEAD_RNG_PITCHd_Wd	224.5,70016,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	479

FREEZE	1.24,-1.815,-0.977,2,1,0	_24V_AH	21.1,35.181
FINISH	1.2,1.014398	_10V_AH	10.0,20.667
SM_CCo	6872,133.68,0.739,1,0,1330,400.08	FG_AHR_24Vo	0.000
SM_GC	2.03,0.00,0.00,133.68,0.000,0.000,0.739,413,2663,1330,-8.28,0.37,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7639.69,16533.94,051210,202014	MEM	276268
TT8_MAMPS	0.029211	DATA_FILE_SIZE	50512,748
HUMID	51.45	CAP_FILE_SIZE	103402,0
INTERNAL_PRESSURE	8.7308	CFSIZE	260165632,244523008
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	3	GPS	061210,002225,-7716.885,16507.781,40,1.6,41,143.8
ALTIM_TOP_PING	19.3,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	208	81.55	SBE_CT	526	24	266.49
Roll_motor	76	122	198.09	AA4330	903	33	628.84
VBD_pump_during_apogee	274	1099	6356.10	WL_BBFL2VMT	876	105	1941.99
VBD_pump_during_surface	133	738	2084.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	64.34	nil	0	0	0.00
Iridium_during_connect	40	160	136.24	nil	0	0	0.00
Iridium_during_xfer	178	223	841.43	nil	0	0	0.00
Transponder_ping	2	420	19.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.42
TT8	1811	19	358.73
LPSleep	2887	2	63.23
TT8_Active	539	19	106.90
TT8_Sampling	1978	39	787.46
TT8_CF8	140	45	64.24
TT8_Kalman	0	0	0.00
Analog_circuits	1293	12	155.20
GPS_charging	0	0	0.00
Compass	1234	15	185.23
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
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	-104.78	0.000	2	0.000	0.000	421	2673	3262	0	0	0	0	0	0
125	-0.76	-146.0	3.2	-2.2	16	154	9.07	1.88	-9.25	0.000	4	0.208	0.082	2804	3753	3560	0	0	0	0	0	0
400	-0.76	-146.0	49.0	-15.7	65	407	0.00	1.77	0.00	0.000	6	0.000	0.045	2804	2629	3562	0	0	0	0	0	0
537	-0.76	-146.0	71.3	-15.7	90	545	0.00	1.88	0.00	0.000	4	0.000	0.066	2797	3745	3562	0	0	0	0	0	0
584	-0.76	-146.0	79.1	-16.9	98	592	0.00	1.75	0.00	0.000	6	0.000	0.045	2797	2656	3562	0	0	0	0	0	0
724	-0.76	-146.0	102.0	-16.7	122	725	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2655	3562	0	0	0	0	0	0
851	-0.76	-146.0	122.8	-16.2	134	854	0.00	1.80	0.00	0.000	4	0.000	0.066	2788	3760	3562	0	0	0	0	0	0
887	-0.76	-146.0	129.5	-17.0	137	896	0.00	1.75	0.00	0.000	6	0.000	0.044	2788	2666	3562	0	0	0	0	0	0
1023	-0.76	-146.0	150.9	-15.8	150	1025	0.10	0.00	0.00	0.000	6	0.187	0.000	2813	2666	3562	0	0	0	0	0	0
1150	-0.76	-146.0	169.4	-14.3	162	1154	0.00	1.77	0.00	0.000	4	0.000	0.064	2806	3763	3563	0	0	0	0	0	0
1184	-0.76	-146.0	174.4	-15.1	165	1188	0.00	1.70	0.00	0.000	6	0.000	0.044	2806	2666	3563	0	0	0	0	0	0
1325	-0.76	-146.0	195.9	-15.1	178	1326	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2665	3563	0	0	0	0	0	0
1452	-0.76	-146.0	215.5	-15.3	190	1456	0.00	1.77	0.00	0.000	4	0.000	0.064	2798	3762	3563	0	0	0	0	0	0
1498	-0.76	-146.0	222.9	-16.5	194	1502	0.00	1.70	0.00	0.000	6	0.000	0.044	2798	2665	3563	0	0	0	0	0	0
1639	-0.76	-146.0	245.5	-16.0	207	1640	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2663	3563	0	0	0	0	0	0
1764	-0.76	-146.0	266.0	-16.1	219	1765	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2663	3563	0	0	0	0	0	0
1956	-0.76	-146.0	297.2	-16.4	237	1959	0.00	1.77	0.00	0.000	4	0.000	0.064	2791	3763	3562	0	0	0	0	0	0
2016	-0.76	-146.0	307.9	-16.8	242	2024	0.00	1.70	0.00	0.000	6	0.000	0.044	2790	2690	3563	0	0	0	0	0	0
2215	-0.76	-146.0	339.6	-15.9	261	2218	0.00	1.77	0.00	0.000	4	0.000	0.065	2782	3758	3563	0	0	0	0	0	0
2248	-0.76	-146.0	345.6	-17.6	264	2252	0.12	1.65	0.00	0.000	6	0.172	0.044	2815	2689	3563	0	0	0	0	0	0
2451	-0.76	-146.0	374.2	-13.4	283	2452	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2687	3563	0	0	0	0	0	0
2642	-0.76	-146.0	398.8	-12.8	301	2645	0.00	1.73	0.00	0.000	4	0.000	0.064	2808	3756	3563	0	0	0	0	0	0
2668	-0.76	-146.0	402.8	-14.0	303	2676	0.00	1.70	0.00	0.000	6	0.000	0.044	2808	2688	3562	0	0	0	0	0	0
2869	-0.76	-146.0	428.6	-12.9	322	2870	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2688	3562	0	0	0	0	0	0
3058	-0.76	-146.0	453.0	-13.0	340	3059	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2688	3562	0	0	0	0	0	0
3249	-0.76	-146.0	477.8	-12.7	358	3250	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2688	3563	0	0	0	0	0	0
3258	end dive: TARGET_DEPTH_EXCEEDED
state	3259	begin apogee
3263	-0.17	0.0	479.1	12.8	359	3404	0.60	0.00	131.35	1.099	4	0.131	0.000	3003	2494	2959	0	0	0	0	0	0
3405	end apogee: CONTROL_FINISHED_OK
state	3405	begin climb
3407	0.76	146.0	482.8	0.0	372	3561	0.95	2.50	142.68	1.027	4	0.076	0.052	3308	1104	2364	0	0	0	0	0	0
3684	0.76	146.0	453.9	12.4	397	3689	0.00	2.40	0.00	0.000	6	0.000	0.055	3308	2489	2352	0	0	0	0	0	0
3883	0.76	146.0	426.0	14.7	415	3887	0.00	2.30	0.00	0.000	4	0.000	0.054	3315	1094	2349	0	0	0	0	0	0
4001	0.76	146.0	409.3	13.5	425	4005	0.00	2.38	0.00	0.000	6	0.000	0.057	3315	2529	2346	0	0	0	0	0	0
4204	0.76	146.0	379.4	14.2	444	4207	0.00	2.00	0.00	0.000	4	0.000	0.061	3315	3771	2345	0	0	0	0	0	0
4282	0.76	146.0	366.2	16.7	451	4286	0.00	1.95	0.00	0.000	6	0.000	0.044	3325	2531	2345	0	0	0	0	0	0
4487	0.76	146.0	334.8	13.9	470	4490	0.00	2.03	0.00	0.000	4	0.000	0.062	3324	3777	2344	0	0	0	0	0	0
4547	0.76	146.0	324.8	16.6	475	4555	0.00	1.98	0.00	0.000	6	0.000	0.043	3334	2539	2344	0	0	0	0	0	0
4747	0.76	146.0	295.9	14.6	494	4750	0.00	1.98	0.00	0.000	4	0.000	0.061	3334	3764	2343	0	0	0	0	0	0
4784	0.76	146.0	289.2	17.5	497	4793	0.08	1.95	0.00	0.000	6	0.153	0.042	3320	2544	2343	0	0	0	0	0	0
4982	0.76	146.0	261.6	13.5	516	4986	0.00	1.98	0.00	0.000	4	0.000	0.061	3319	3770	2342	0	0	0	0	0	0
5033	0.76	146.0	253.7	16.8	520	5040	0.00	1.90	0.00	0.000	6	0.000	0.044	3327	2559	2342	0	0	0	0	0	0
5233	0.76	146.0	225.3	14.4	539	5234	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2556	2342	0	0	0	0	0	0
5359	0.76	146.0	207.2	14.2	551	5362	0.00	1.95	0.00	0.000	4	0.000	0.062	3327	3768	2341	0	0	0	0	0	0
5394	0.76	146.0	202.0	15.7	554	5398	0.00	1.88	0.00	0.000	6	0.000	0.043	3337	2558	2342	0	0	0	0	0	0
5536	0.76	146.0	181.3	14.2	567	5540	0.00	1.95	0.00	0.000	4	0.000	0.061	3337	3765	2342	0	0	0	0	0	0
5572	0.76	146.0	175.7	15.5	570	5576	0.12	1.85	0.00	0.000	6	0.175	0.042	3313	2565	2342	0	0	0	0	0	0
5714	0.76	146.0	156.8	12.6	583	5721	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2564	2342	0	0	0	0	0	0
5848	0.76	146.0	139.7	12.6	596	5852	0.00	1.95	0.00	0.000	4	0.000	0.061	3313	3778	2341	0	0	0	0	0	0
5882	0.76	146.0	135.0	14.5	599	5886	0.00	1.88	0.00	0.000	6	0.000	0.044	3320	2566	2341	0	0	0	0	0	0
6023	0.76	146.0	116.3	13.0	612	6025	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2565	2342	0	0	0	0	0	0
6150	0.76	146.0	99.1	13.2	624	6158	0.00	1.98	0.00	0.000	4	0.000	0.063	3320	3758	2341	0	0	0	0	0	0
6186	0.76	146.0	93.6	15.1	630	6195	0.00	1.88	0.00	0.000	6	0.000	0.043	3330	2576	2341	0	0	0	0	0	0
6329	0.76	146.0	75.1	12.5	655	6335	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2575	2341	0	0	0	0	0	0
6465	0.76	146.0	56.5	14.2	680	6473	0.00	1.95	0.00	0.000	4	0.000	0.062	3330	3758	2341	0	0	0	0	0	0
6522	0.76	146.0	47.6	15.4	690	6530	0.00	1.85	0.00	0.000	6	0.000	0.042	3339	2589	2341	0	0	0	0	0	0
6664	0.76	146.0	27.9	14.4	715	6671	0.00	1.92	0.00	0.000	4	0.000	0.062	3339	3777	2341	0	0	0	0	0	0
6693	0.76	146.0	22.6	15.9	720	6701	0.10	1.88	0.00	0.000	6	0.153	0.044	3315	2597	2341	0	0	0	0	0	0
6837	0.76	146.0	3.4	13.3	745	6844	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2595	2340	0	0	0	0	0	0
6851	end climb: SURFACE_DEPTH_REACHED
state	6851	begin surface coast
6857	end surface coast: FINISH_DEPTH_REACHED
state	6857	begin surface