Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 52 * 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 52 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2400 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 450 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 623.29712 R_PORT_OVSHOOT 25 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 19 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 0 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 1 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 125 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 150 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 3 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 -18017.217 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0049999999 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 180 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 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 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 623.29712

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 1

ALTIM_FREQUENCY 13 D_TGT 450 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 125

CALL_TRIES 3 HD_A 0.003 PROTOCOL 0 T_GPS 3

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 -18017.217

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 150

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0049999999 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 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2400 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2600 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 180 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 19 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 52 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 251110,053932,-7721.495,16437.059,181,99.0,181,144.9 TGT_NAME SOUND1

_CALLS 3 TGT_LATLONG -7728.000,16520.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 2.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251110,053932,-7721.495,16437.059,181,99.0,181,144.9 MHEAD_RNG_PITCHd_Wd 340.0,21047,-18.7,-12.000

SPEED_LIMITS 0.208,0.300 D_GRID 375

Post-dive calculations and measurements:

FREEZE 1.71,-1.900,-1.902,2,10,2 ALTIM_BOTTOM_PING 250.2,89.6

FINISH 1.7,1.027879 _24V_AH 22.0,19.792

SM_CCo 5324,229.80,0.751,6,0,420,623.30 _10V_AH 10.1,10.869

SM_GC 2.10,0.00,0.00,229.80,0.000,0.000,0.751,426,2617,420,-8.25,0.48,623.30 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7630.39,16427.50,251110,050514 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 276092

HUMID 50.47 DATA_FILE_SIZE 40299,613

INTERNAL_PRESSURE 8.65268 CAP_FILE_SIZE 91712,0

TCM_TEMP 13.90 CFSIZE 260165632,250875904

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

ALTIM_TOP_PING 19.8,18.9 GPS 251110,053932,-7721.495,16437.059,181,99.0,181,144.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 176 44.22 SBE_CT 429 24 226.94

Roll_motor 86 84 159.67 AA4330 833 33 604.88

VBD_pump_during_apogee 433 1019 9718.02 WL_BBFL2VMT 964 105 2228.10

VBD_pump_during_surface 229 751 3797.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 11.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1485 19 297.04

LPSleep 1786 2 39.51

TT8_Active 722 19 144.58

TT8_Sampling 1554 39 624.93

TT8_CF8 85 45 39.72

TT8_Kalman 0 0 0.00

Analog_circuits 1406 12 170.47

GPS_charging 0 0 0.00

Compass 1045 15 158.37

RAFOS 0 0 0.00

Transponder 7 30 2.21

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

14 -0.84 -175.2 0.0 0.0 0 25 0.00 0.00 -8.65 0.000 2 0.000 0.000 3051 2391 3249 0 0 0 0 0 0

27 -0.84 -175.2 3.3 -0.0 1 55 0.68 2.35 -15.98 0.000 4 0.076 0.084 2798 3767 3679 0 0 0 0 0 0

79 -0.77 -175.2 8.8 -13.2 9 86 0.00 1.88 0.00 0.000 6 0.000 0.048 2798 2587 3680 0 0 0 0 0 0

217 -0.69 -175.2 30.0 -14.9 34 225 0.15 0.00 0.00 0.000 6 0.174 0.000 2839 2586 3681 0 0 0 0 0 0

357 -0.69 -175.2 46.8 -13.7 59 364 0.00 1.95 0.00 0.000 4 0.000 0.070 2832 3764 3682 0 0 0 0 0 0

397 -0.69 -175.2 52.1 -12.8 66 405 0.00 1.88 0.00 0.000 6 0.000 0.048 2832 2602 3682 0 0 0 0 0 0

537 -0.69 -175.2 69.4 -11.8 91 543 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2602 3682 0 0 0 0 0 0

673 -0.69 -175.2 86.6 -12.8 116 681 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2601 3682 0 0 0 0 0 0

817 -0.69 -175.2 104.6 -12.6 139 821 0.00 1.90 0.00 0.000 4 0.000 0.070 2824 3766 3682 0 0 0 0 0 0

851 -0.66 -175.2 108.9 -13.3 142 854 0.00 1.85 0.00 0.000 6 0.000 0.049 2823 2589 3682 0 0 0 0 0 0

992 -0.63 -175.2 128.0 -14.1 155 994 0.12 0.00 0.00 0.000 6 0.174 0.000 2858 2586 3682 0 0 0 0 0 0

1119 -0.67 -175.2 143.0 -11.6 167 1122 0.00 1.92 0.00 0.000 4 0.000 0.071 2854 3764 3682 0 0 0 0 0 0

1155 -0.71 -175.2 147.7 -11.8 170 1164 0.00 1.88 0.00 0.000 6 0.000 0.048 2854 2594 3682 0 0 0 0 0 0

1293 -0.74 -175.2 162.8 -11.2 183 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2593 3682 0 0 0 0 0 0

1428 -0.76 -175.2 178.7 -11.8 196 1433 0.10 1.92 0.00 0.000 4 0.109 0.070 2794 3764 3682 0 0 0 0 0 0

1463 -0.69 -175.2 183.8 -15.7 199 1467 0.17 1.83 0.00 0.000 6 0.164 0.049 2843 2600 3682 0 0 0 0 0 0

1602 -0.69 -175.2 203.2 -13.3 212 1603 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2597 3682 0 0 0 0 0 0

1730 -0.69 -175.2 220.1 -13.5 224 1731 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2597 3682 0 0 0 0 0 0

1857 -0.69 -175.2 236.9 -12.8 236 1861 0.00 1.90 0.00 0.000 4 0.000 0.070 2836 3766 3681 0 0 0 0 0 0

1883 -0.69 -175.2 241.0 -14.1 238 1893 0.00 1.88 0.00 0.000 6 0.000 0.047 2836 2593 3682 0 0 0 0 0 0

2017 -0.69 -175.2 258.8 -13.7 251 2018 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 2592 3682 0 0 0 0 0 0

2209 -0.69 -175.2 284.8 -13.2 269 2212 0.00 1.92 0.00 0.000 4 0.000 0.071 2827 3771 3682 0 0 0 0 0 0

2242 -0.69 -175.2 289.5 -13.8 272 2246 0.00 1.83 0.00 0.000 6 0.000 0.048 2827 2601 3682 0 0 0 0 0 0

2445 -0.69 -175.2 316.8 -13.0 291 2448 0.00 1.90 0.00 0.000 4 0.000 0.069 2818 3767 3682 0 0 0 0 0 0

2473 -0.66 -175.2 320.7 -13.9 293 2481 0.12 1.83 0.00 0.000 6 0.170 0.049 2852 2599 3682 0 0 0 0 0 0

2510 end dive: BOTTOM_OBSTACLE_DETECTED

state 2510 begin apogee

2514 -0.17 0.0 325.1 11.8 297 2676 0.45 0.00 153.12 1.020 6 0.126 0.000 3004 2391 2959 0 0 0 0 0 0

2677 end apogee: CONTROL_FINISHED_OK

state 2677 begin climb

2678 0.84 175.2 331.6 0.0 312 2853 1.00 2.55 161.95 0.942 4 0.082 0.054 3337 1006 2242 0 0 0 0 0 0

2922 0.74 175.2 307.1 14.4 334 2927 0.12 2.45 0.00 0.000 6 0.166 0.057 3308 2407 2234 0 0 0 0 0 0

3121 0.64 175.2 280.0 13.6 352 3126 0.12 2.28 0.00 0.000 4 0.177 0.066 3277 3761 2230 0 0 0 0 0 0

3254 0.55 175.2 261.9 12.7 363 3262 0.12 2.25 0.00 0.000 6 0.155 0.047 3247 2406 2228 0 0 0 0 0 0

3454 0.64 247.7 244.2 8.7 382 3529 0.00 2.45 64.35 0.930 4 0.000 0.067 3248 3753 1949 0 0 0 0 0 0

3609 0.65 255.0 227.5 11.7 395 3622 0.00 2.30 7.55 0.789 6 0.000 0.049 3249 2398 1920 0 0 0 0 0 0

3758 0.77 305.7 213.0 9.7 409 3812 0.17 2.47 46.20 0.899 4 0.071 0.064 3327 3758 1712 0 0 0 0 0 0

3874 0.67 305.7 193.7 19.4 419 3879 0.20 2.30 0.00 0.000 6 0.155 0.047 3285 2390 1705 0 0 0 0 0 0

4009 0.69 305.7 174.7 12.9 431 4013 0.00 2.33 0.00 0.000 4 0.000 0.065 3285 3761 1701 0 0 0 0 0 0

4039 0.69 305.7 170.1 13.6 433 4048 0.00 2.28 0.00 0.000 6 0.000 0.048 3288 2407 1701 0 0 0 0 0 0

4176 0.69 305.7 152.7 12.1 446 4180 0.00 2.28 0.00 0.000 4 0.000 0.067 3287 3766 1698 0 0 0 0 0 0

4217 0.69 305.7 146.3 13.7 449 4227 0.00 2.28 0.00 0.000 6 0.000 0.048 3297 2389 1699 0 0 0 0 0 0

4354 0.69 305.7 128.2 13.4 462 4358 0.00 2.28 0.00 0.000 4 0.000 0.065 3297 3765 1697 0 0 0 0 0 0

4395 0.66 305.7 122.0 15.6 465 4399 0.00 2.20 0.00 0.000 6 0.000 0.048 3306 2393 1697 0 0 0 0 0 0

4529 0.63 305.7 101.0 15.1 477 4534 0.12 2.28 0.00 0.000 4 0.162 0.066 3273 3771 1695 0 0 0 0 0 0

4573 0.66 305.7 94.6 13.4 484 4581 0.00 2.25 0.00 0.000 6 0.000 0.049 3282 2397 1696 0 0 0 0 0 0

4714 0.69 305.7 75.9 12.5 509 4721 0.00 2.25 0.00 0.000 4 0.000 0.067 3282 3761 1695 0 0 0 0 0 0

4742 0.69 305.7 72.2 12.8 514 4750 0.00 2.22 0.00 0.000 6 0.000 0.048 3291 2394 1695 0 0 0 0 0 0

4882 0.69 305.7 54.8 12.0 539 4889 0.00 2.25 0.00 0.000 4 0.000 0.066 3291 3763 1695 0 0 0 0 0 0

4918 0.66 305.7 50.0 13.7 545 4925 0.00 2.17 0.00 0.000 6 0.000 0.047 3300 2397 1695 0 0 0 0 0 0

5055 0.66 305.7 31.7 12.6 570 5063 0.00 2.28 0.00 0.000 4 0.000 0.065 3300 3761 1695 0 0 0 0 0 0

5091 0.61 305.7 26.1 17.1 576 5100 0.12 2.20 0.00 0.000 6 0.139 0.048 3268 2403 1695 0 0 0 0 0 0

5234 0.67 305.7 9.0 12.3 601 5240 0.00 2.25 0.00 0.000 4 0.000 0.068 3268 3764 1694 0 0 0 0 0 0

5271 0.69 305.7 4.1 12.8 607 5278 0.00 2.17 0.00 0.000 6 0.000 0.049 3276 2396 1694 0 0 0 0 0 0

5285 end climb: SURFACE_DEPTH_REACHED

state 5285 begin surface coast

5310 end surface coast: CONTROL_FINISHED_OK

state 5310 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	52	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2400	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	450	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	623.29712	R_PORT_OVSHOOT	25	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	19	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	0	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	1	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	125	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	150	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	3	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	-18017.217	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0049999999	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	180	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	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	251110,053932,-7721.495,16437.059,181,99.0,181,144.9	TGT_NAME	SOUND1
_CALLS	3	TGT_LATLONG	-7728.000,16520.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	2.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251110,053932,-7721.495,16437.059,181,99.0,181,144.9	MHEAD_RNG_PITCHd_Wd	340.0,21047,-18.7,-12.000
SPEED_LIMITS	0.208,0.300	D_GRID	375

FREEZE	1.71,-1.900,-1.902,2,10,2	ALTIM_BOTTOM_PING	250.2,89.6
FINISH	1.7,1.027879	_24V_AH	22.0,19.792
SM_CCo	5324,229.80,0.751,6,0,420,623.30	_10V_AH	10.1,10.869
SM_GC	2.10,0.00,0.00,229.80,0.000,0.000,0.751,426,2617,420,-8.25,0.48,623.30	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7630.39,16427.50,251110,050514	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	276092
HUMID	50.47	DATA_FILE_SIZE	40299,613
INTERNAL_PRESSURE	8.65268	CAP_FILE_SIZE	91712,0
TCM_TEMP	13.90	CFSIZE	260165632,250875904
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
ALTIM_TOP_PING	19.8,18.9	GPS	251110,053932,-7721.495,16437.059,181,99.0,181,144.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	176	44.22	SBE_CT	429	24	226.94
Roll_motor	86	84	159.67	AA4330	833	33	604.88
VBD_pump_during_apogee	433	1019	9718.02	WL_BBFL2VMT	964	105	2228.10
VBD_pump_during_surface	229	751	3797.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	11.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1485	19	297.04
LPSleep	1786	2	39.51
TT8_Active	722	19	144.58
TT8_Sampling	1554	39	624.93
TT8_CF8	85	45	39.72
TT8_Kalman	0	0	0.00
Analog_circuits	1406	12	170.47
GPS_charging	0	0	0.00
Compass	1045	15	158.37
RAFOS	0	0	0.00
Transponder	7	30	2.21

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
14	-0.84	-175.2	0.0	0.0	0	25	0.00	0.00	-8.65	0.000	2	0.000	0.000	3051	2391	3249	0	0	0	0	0	0
27	-0.84	-175.2	3.3	-0.0	1	55	0.68	2.35	-15.98	0.000	4	0.076	0.084	2798	3767	3679	0	0	0	0	0	0
79	-0.77	-175.2	8.8	-13.2	9	86	0.00	1.88	0.00	0.000	6	0.000	0.048	2798	2587	3680	0	0	0	0	0	0
217	-0.69	-175.2	30.0	-14.9	34	225	0.15	0.00	0.00	0.000	6	0.174	0.000	2839	2586	3681	0	0	0	0	0	0
357	-0.69	-175.2	46.8	-13.7	59	364	0.00	1.95	0.00	0.000	4	0.000	0.070	2832	3764	3682	0	0	0	0	0	0
397	-0.69	-175.2	52.1	-12.8	66	405	0.00	1.88	0.00	0.000	6	0.000	0.048	2832	2602	3682	0	0	0	0	0	0
537	-0.69	-175.2	69.4	-11.8	91	543	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2602	3682	0	0	0	0	0	0
673	-0.69	-175.2	86.6	-12.8	116	681	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2601	3682	0	0	0	0	0	0
817	-0.69	-175.2	104.6	-12.6	139	821	0.00	1.90	0.00	0.000	4	0.000	0.070	2824	3766	3682	0	0	0	0	0	0
851	-0.66	-175.2	108.9	-13.3	142	854	0.00	1.85	0.00	0.000	6	0.000	0.049	2823	2589	3682	0	0	0	0	0	0
992	-0.63	-175.2	128.0	-14.1	155	994	0.12	0.00	0.00	0.000	6	0.174	0.000	2858	2586	3682	0	0	0	0	0	0
1119	-0.67	-175.2	143.0	-11.6	167	1122	0.00	1.92	0.00	0.000	4	0.000	0.071	2854	3764	3682	0	0	0	0	0	0
1155	-0.71	-175.2	147.7	-11.8	170	1164	0.00	1.88	0.00	0.000	6	0.000	0.048	2854	2594	3682	0	0	0	0	0	0
1293	-0.74	-175.2	162.8	-11.2	183	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	2593	3682	0	0	0	0	0	0
1428	-0.76	-175.2	178.7	-11.8	196	1433	0.10	1.92	0.00	0.000	4	0.109	0.070	2794	3764	3682	0	0	0	0	0	0
1463	-0.69	-175.2	183.8	-15.7	199	1467	0.17	1.83	0.00	0.000	6	0.164	0.049	2843	2600	3682	0	0	0	0	0	0
1602	-0.69	-175.2	203.2	-13.3	212	1603	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2597	3682	0	0	0	0	0	0
1730	-0.69	-175.2	220.1	-13.5	224	1731	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2597	3682	0	0	0	0	0	0
1857	-0.69	-175.2	236.9	-12.8	236	1861	0.00	1.90	0.00	0.000	4	0.000	0.070	2836	3766	3681	0	0	0	0	0	0
1883	-0.69	-175.2	241.0	-14.1	238	1893	0.00	1.88	0.00	0.000	6	0.000	0.047	2836	2593	3682	0	0	0	0	0	0
2017	-0.69	-175.2	258.8	-13.7	251	2018	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	2592	3682	0	0	0	0	0	0
2209	-0.69	-175.2	284.8	-13.2	269	2212	0.00	1.92	0.00	0.000	4	0.000	0.071	2827	3771	3682	0	0	0	0	0	0
2242	-0.69	-175.2	289.5	-13.8	272	2246	0.00	1.83	0.00	0.000	6	0.000	0.048	2827	2601	3682	0	0	0	0	0	0
2445	-0.69	-175.2	316.8	-13.0	291	2448	0.00	1.90	0.00	0.000	4	0.000	0.069	2818	3767	3682	0	0	0	0	0	0
2473	-0.66	-175.2	320.7	-13.9	293	2481	0.12	1.83	0.00	0.000	6	0.170	0.049	2852	2599	3682	0	0	0	0	0	0
2510	end dive: BOTTOM_OBSTACLE_DETECTED
state	2510	begin apogee
2514	-0.17	0.0	325.1	11.8	297	2676	0.45	0.00	153.12	1.020	6	0.126	0.000	3004	2391	2959	0	0	0	0	0	0
2677	end apogee: CONTROL_FINISHED_OK
state	2677	begin climb
2678	0.84	175.2	331.6	0.0	312	2853	1.00	2.55	161.95	0.942	4	0.082	0.054	3337	1006	2242	0	0	0	0	0	0
2922	0.74	175.2	307.1	14.4	334	2927	0.12	2.45	0.00	0.000	6	0.166	0.057	3308	2407	2234	0	0	0	0	0	0
3121	0.64	175.2	280.0	13.6	352	3126	0.12	2.28	0.00	0.000	4	0.177	0.066	3277	3761	2230	0	0	0	0	0	0
3254	0.55	175.2	261.9	12.7	363	3262	0.12	2.25	0.00	0.000	6	0.155	0.047	3247	2406	2228	0	0	0	0	0	0
3454	0.64	247.7	244.2	8.7	382	3529	0.00	2.45	64.35	0.930	4	0.000	0.067	3248	3753	1949	0	0	0	0	0	0
3609	0.65	255.0	227.5	11.7	395	3622	0.00	2.30	7.55	0.789	6	0.000	0.049	3249	2398	1920	0	0	0	0	0	0
3758	0.77	305.7	213.0	9.7	409	3812	0.17	2.47	46.20	0.899	4	0.071	0.064	3327	3758	1712	0	0	0	0	0	0
3874	0.67	305.7	193.7	19.4	419	3879	0.20	2.30	0.00	0.000	6	0.155	0.047	3285	2390	1705	0	0	0	0	0	0
4009	0.69	305.7	174.7	12.9	431	4013	0.00	2.33	0.00	0.000	4	0.000	0.065	3285	3761	1701	0	0	0	0	0	0
4039	0.69	305.7	170.1	13.6	433	4048	0.00	2.28	0.00	0.000	6	0.000	0.048	3288	2407	1701	0	0	0	0	0	0
4176	0.69	305.7	152.7	12.1	446	4180	0.00	2.28	0.00	0.000	4	0.000	0.067	3287	3766	1698	0	0	0	0	0	0
4217	0.69	305.7	146.3	13.7	449	4227	0.00	2.28	0.00	0.000	6	0.000	0.048	3297	2389	1699	0	0	0	0	0	0
4354	0.69	305.7	128.2	13.4	462	4358	0.00	2.28	0.00	0.000	4	0.000	0.065	3297	3765	1697	0	0	0	0	0	0
4395	0.66	305.7	122.0	15.6	465	4399	0.00	2.20	0.00	0.000	6	0.000	0.048	3306	2393	1697	0	0	0	0	0	0
4529	0.63	305.7	101.0	15.1	477	4534	0.12	2.28	0.00	0.000	4	0.162	0.066	3273	3771	1695	0	0	0	0	0	0
4573	0.66	305.7	94.6	13.4	484	4581	0.00	2.25	0.00	0.000	6	0.000	0.049	3282	2397	1696	0	0	0	0	0	0
4714	0.69	305.7	75.9	12.5	509	4721	0.00	2.25	0.00	0.000	4	0.000	0.067	3282	3761	1695	0	0	0	0	0	0
4742	0.69	305.7	72.2	12.8	514	4750	0.00	2.22	0.00	0.000	6	0.000	0.048	3291	2394	1695	0	0	0	0	0	0
4882	0.69	305.7	54.8	12.0	539	4889	0.00	2.25	0.00	0.000	4	0.000	0.066	3291	3763	1695	0	0	0	0	0	0
4918	0.66	305.7	50.0	13.7	545	4925	0.00	2.17	0.00	0.000	6	0.000	0.047	3300	2397	1695	0	0	0	0	0	0
5055	0.66	305.7	31.7	12.6	570	5063	0.00	2.28	0.00	0.000	4	0.000	0.065	3300	3761	1695	0	0	0	0	0	0
5091	0.61	305.7	26.1	17.1	576	5100	0.12	2.20	0.00	0.000	6	0.139	0.048	3268	2403	1695	0	0	0	0	0	0
5234	0.67	305.7	9.0	12.3	601	5240	0.00	2.25	0.00	0.000	4	0.000	0.068	3268	3764	1694	0	0	0	0	0	0
5271	0.69	305.7	4.1	12.8	607	5278	0.00	2.17	0.00	0.000	6	0.000	0.049	3276	2396	1694	0	0	0	0	0	0
5285	end climb: SURFACE_DEPTH_REACHED
state	5285	begin surface coast
5310	end surface coast: CONTROL_FINISHED_OK
state	5310	begin surface