Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 68 * 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 68 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2650 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 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 24 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 -22772.029 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 -22772.029

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 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 180 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 24 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 68 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 261110,062908,-7726.157,16510.441,181,99.0,181,144.2 TGT_NAME SOUND2

_CALLS 3 TGT_LATLONG -7723.000,16505.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -12.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261110,062908,-7726.157,16510.441,181,99.0,181,144.2 MHEAD_RNG_PITCHd_Wd 195.2,6247,-18.7,-12.000

SPEED_LIMITS 0.208,0.300 D_GRID 544

Post-dive calculations and measurements:

FREEZE 1.19,-1.544,-1.896,2,11,0 ALTIM_BOTTOM_PING 400.4,94.5

FINISH 1.2,1.027791 _24V_AH 21.7,22.589

SM_CCo 6904,176.18,0.758,4,0,419,623.30 _10V_AH 10.0,12.459

SM_GC 1.26,0.00,0.00,176.18,0.000,0.000,0.758,424,2655,419,-8.26,0.14,623.30 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16500.29,261110,060609 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029211 MEM 275884

HUMID 50.94 DATA_FILE_SIZE 50409,740

INTERNAL_PRESSURE 8.66244 CAP_FILE_SIZE 118670,0

TCM_TEMP 14.00 CFSIZE 260165632,249851904

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0

ALTIM_TOP_PING 19.6,18.5 GPS 261110,062908,-7726.157,16510.441,181,99.0,181,144.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 219 98.86 SBE_CT 517 24 269.56

Roll_motor 108 87 205.43 AA4330 894 33 640.40

VBD_pump_during_apogee 477 1087 11269.20 WL_BBFL2VMT 876 105 1996.31

VBD_pump_during_surface 176 758 2898.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 221.26 nil 0 0 0.00

Iridium_during_connect 17 160 61.79 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 20.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 50 91.34

TT8 1780 19 352.49

LPSleep 2838 2 62.16

TT8_Active 786 19 155.81

TT8_Sampling 2070 39 824.06

TT8_CF8 179 45 82.23

TT8_Kalman 0 0 0.00

Analog_circuits 1623 12 194.80

GPS_charging 0 0 0.00

Compass 1286 15 192.90

RAFOS 0 0 0.00

Transponder 12 30 3.74

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 -0.84 -175.2 0.0 0.0 0 166 0.00 0.00 -148.32 0.000 2 0.000 0.000 420 2650 3243 0 0 0 0 0 0

169 -0.84 -175.2 3.0 -0.5 23 197 8.98 1.92 -13.05 0.000 4 0.220 0.087 2782 3763 3679 0 0 0 0 0 0

438 -0.70 -175.2 50.8 -18.5 71 445 0.20 1.77 0.00 0.000 6 0.161 0.048 2840 2640 3682 0 0 0 0 0 0

578 -0.70 -175.2 70.5 -13.6 96 585 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2638 3682 0 0 0 0 0 0

718 -0.70 -175.2 88.9 -13.2 121 724 0.00 1.85 0.00 0.000 4 0.000 0.070 2833 3760 3682 0 0 0 0 0 0

769 -0.67 -175.2 95.9 -13.7 130 777 0.00 1.77 0.00 0.000 6 0.000 0.047 2833 2655 3682 0 0 0 0 0 0

907 -0.65 -175.2 114.7 -13.6 145 908 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2654 3682 0 0 0 0 0 0

1035 -0.62 -175.2 131.9 -13.3 157 1039 0.12 1.83 0.00 0.000 4 0.171 0.072 2861 3759 3683 0 0 0 0 0 0

1102 -0.66 -175.2 139.9 -12.2 163 1105 0.00 1.75 0.00 0.000 6 0.000 0.048 2861 2638 3682 0 0 0 0 0 0

1244 -0.70 -175.2 155.5 -11.1 176 1247 0.00 1.85 0.00 0.000 4 0.000 0.071 2854 3765 3682 0 0 0 0 0 0

1289 -0.72 -175.2 161.1 -12.1 180 1293 0.00 1.75 0.00 0.000 6 0.000 0.046 2854 2640 3683 0 0 0 0 0 0

1430 -0.74 -175.2 177.9 -11.8 193 1434 0.00 1.85 0.00 0.000 4 0.000 0.070 2845 3763 3682 0 0 0 0 0 0

1464 -0.74 -175.2 182.4 -13.2 196 1468 0.00 1.75 0.00 0.000 6 0.000 0.047 2845 2641 3682 0 0 0 0 0 0

1606 -0.74 -175.2 199.5 -12.5 209 1610 0.00 1.83 0.00 0.000 4 0.000 0.071 2842 3759 3682 0 0 0 0 0 0

1662 -0.74 -175.2 206.9 -13.0 214 1666 0.00 1.73 0.00 0.000 6 0.000 0.047 2841 2652 3682 0 0 0 0 0 0

1804 -0.74 -175.2 224.7 -12.7 227 1807 0.00 1.83 0.00 0.000 4 0.000 0.071 2833 3764 3682 0 0 0 0 0 0

1829 -0.72 -175.2 228.7 -13.6 229 1839 0.00 1.80 0.00 0.000 6 0.000 0.047 2833 2641 3683 0 0 0 0 0 0

1965 -0.72 -175.2 246.2 -13.1 242 1969 0.00 1.83 0.00 0.000 4 0.000 0.070 2824 3760 3682 0 0 0 0 0 0

2002 -0.67 -175.2 251.9 -15.0 245 2009 0.00 1.77 0.00 0.000 6 0.000 0.047 2824 2648 3682 0 0 0 0 0 0

2200 -0.64 -175.2 278.7 -13.5 264 2204 0.12 1.85 0.00 0.000 4 0.169 0.072 2852 3767 3683 0 0 0 0 0 0

2250 -0.67 -175.2 285.0 -12.0 268 2257 0.00 1.77 0.00 0.000 6 0.000 0.048 2852 2637 3682 0 0 0 0 0 0

2449 -0.69 -175.2 307.3 -11.3 287 2452 0.00 1.85 0.00 0.000 4 0.000 0.072 2843 3759 3682 0 0 0 0 0 0

2497 -0.69 -175.2 313.7 -12.4 291 2505 0.00 1.77 0.00 0.000 6 0.000 0.047 2843 2650 3682 0 0 0 0 0 0

2695 -0.69 -175.2 337.3 -12.1 310 2699 0.00 1.85 0.00 0.000 4 0.000 0.073 2842 3769 3683 0 0 0 0 0 0

2744 -0.69 -175.2 343.6 -12.8 314 2753 0.00 1.80 0.00 0.000 6 0.000 0.048 2842 2645 3682 0 0 0 0 0 0

2942 -0.69 -175.2 367.5 -12.1 333 2946 0.00 1.83 0.00 0.000 4 0.000 0.072 2833 3759 3682 0 0 0 0 0 0

2991 -0.69 -175.2 374.0 -12.9 337 2999 0.00 1.77 0.00 0.000 6 0.000 0.047 2833 2651 3682 0 0 0 0 0 0

3189 -0.69 -175.2 398.9 -12.4 356 3193 0.00 1.83 0.00 0.000 4 0.000 0.072 2824 3766 3682 0 0 0 0 0 0

3237 -0.67 -175.2 405.4 -13.6 360 3241 0.00 1.75 0.00 0.000 6 0.000 0.049 2824 2645 3682 0 0 0 0 0 0

3439 -0.64 -175.2 431.9 -13.0 379 3444 0.12 1.85 0.00 0.000 4 0.167 0.072 2853 3760 3682 0 0 0 0 0 0

3496 -0.68 -175.2 438.6 -11.5 384 3500 0.00 1.73 0.00 0.000 6 0.000 0.048 2853 2651 3682 0 0 0 0 0 0

3602 end dive: TARGET_DEPTH_EXCEEDED

state 3602 begin apogee

3606 -0.17 0.0 450.2 10.5 394 3770 0.45 0.00 156.18 1.087 6 0.126 0.000 3002 2490 2960 0 0 0 0 0 0

3771 end apogee: CONTROL_FINISHED_OK

state 3771 begin climb

3773 0.84 175.2 456.3 0.0 409 3948 1.00 2.55 165.18 1.011 4 0.081 0.054 3333 1104 2245 0 0 0 0 0 0

4040 0.75 175.2 426.8 15.7 433 4044 0.00 2.42 0.00 0.000 6 0.000 0.056 3333 2496 2233 0 0 0 0 0 0

4237 0.60 175.2 394.1 16.3 451 4242 0.25 2.12 0.00 0.000 4 0.160 0.062 3259 3764 2228 0 0 0 0 0 0

4310 0.54 175.2 384.1 13.1 457 4314 0.00 2.05 0.00 0.000 6 0.000 0.049 3268 2503 2228 0 0 0 0 0 0

4508 0.52 188.7 361.2 11.4 475 4521 0.12 0.00 10.30 0.933 6 0.168 0.000 3234 2501 2191 0 0 0 0 0 0

4710 0.66 258.9 342.9 8.8 494 4788 0.12 2.33 66.43 1.005 4 0.086 0.066 3297 3770 1903 0 0 0 0 0 0

4812 0.61 258.9 329.0 15.7 503 4817 0.17 2.15 0.00 0.000 6 0.151 0.049 3261 2501 1899 0 0 0 0 0 0

5010 0.68 284.0 306.5 10.8 521 5037 0.00 2.40 22.15 0.954 4 0.000 0.057 3261 1086 1804 0 0 0 0 0 0

5072 0.84 326.9 299.9 10.0 526 5120 0.22 2.40 40.47 0.957 6 0.063 0.057 3351 2502 1626 0 0 0 0 0 0

5318 0.74 326.9 251.6 20.6 549 5322 0.17 2.12 0.00 0.000 4 0.158 0.063 3305 3770 1615 0 0 0 0 0 0

5347 0.68 326.9 246.2 19.1 551 5352 0.00 2.10 0.00 0.000 6 0.000 0.050 3312 2496 1615 0 0 0 0 0 0

5482 0.68 326.9 224.6 16.2 563 5486 0.00 2.30 0.00 0.000 4 0.000 0.060 3316 1087 1612 0 0 0 0 0 0

5522 0.71 326.9 218.8 14.2 566 5526 0.00 2.35 0.00 0.000 6 0.000 0.057 3316 2506 1611 0 0 0 0 0 0

5658 0.69 326.9 197.2 16.5 578 5661 0.00 2.05 0.00 0.000 4 0.000 0.065 3316 3764 1611 0 0 0 0 0 0

5682 0.65 326.9 192.9 16.3 580 5686 0.17 2.03 0.00 0.000 6 0.145 0.050 3276 2499 1611 0 0 0 0 0 0

5817 0.72 330.2 175.7 11.8 592 5821 0.00 2.25 0.00 0.000 4 0.000 0.057 3284 1087 1609 0 0 0 0 0 0

5857 0.83 341.4 170.9 11.5 595 5874 0.15 2.33 11.32 0.874 6 0.083 0.057 3349 2509 1569 0 0 0 0 0 0

6010 0.75 341.4 142.6 19.7 609 6014 0.15 2.05 0.00 0.000 4 0.161 0.064 3309 3762 1565 0 0 0 0 0 0

6041 0.72 341.4 136.3 17.9 611 6049 0.00 2.05 0.00 0.000 6 0.000 0.047 3315 2501 1565 0 0 0 0 0 0

6176 0.72 341.4 115.5 15.7 624 6180 0.00 2.25 0.00 0.000 4 0.000 0.056 3325 1083 1564 0 0 0 0 0 0

6216 0.75 341.4 109.4 15.3 627 6220 0.00 2.33 0.00 0.000 6 0.000 0.057 3325 2510 1562 0 0 0 0 0 0

6350 0.72 341.4 87.0 17.2 646 6358 0.00 2.08 0.00 0.000 4 0.000 0.066 3324 3767 1563 0 0 0 0 0 0

6375 0.69 341.4 82.5 18.2 650 6383 0.12 2.08 0.00 0.000 6 0.129 0.050 3286 2494 1562 0 0 0 0 0 0

6516 0.75 341.4 64.3 12.8 675 6523 0.00 2.28 0.00 0.000 4 0.000 0.060 3288 1088 1562 0 0 0 0 0 0

6556 0.86 347.3 59.4 11.7 682 6571 0.12 2.33 5.70 0.741 6 0.051 0.058 3355 2493 1546 0 0 0 0 0 0

6703 0.78 347.3 31.0 22.6 708 6712 0.15 2.10 0.00 0.000 4 0.161 0.063 3314 3761 1544 0 0 0 0 0 0

6729 0.73 347.3 25.7 20.8 712 6737 0.00 2.05 0.00 0.000 6 0.000 0.050 3321 2499 1544 0 0 0 0 0 0

6872 end climb: SURFACE_DEPTH_REACHED

state 6872 begin surface coast

6890 end surface coast: CONTROL_FINISHED_OK

state 6890 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	68	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2650	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	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	24	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	-22772.029	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	261110,062908,-7726.157,16510.441,181,99.0,181,144.2	TGT_NAME	SOUND2
_CALLS	3	TGT_LATLONG	-7723.000,16505.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-12.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261110,062908,-7726.157,16510.441,181,99.0,181,144.2	MHEAD_RNG_PITCHd_Wd	195.2,6247,-18.7,-12.000
SPEED_LIMITS	0.208,0.300	D_GRID	544

FREEZE	1.19,-1.544,-1.896,2,11,0	ALTIM_BOTTOM_PING	400.4,94.5
FINISH	1.2,1.027791	_24V_AH	21.7,22.589
SM_CCo	6904,176.18,0.758,4,0,419,623.30	_10V_AH	10.0,12.459
SM_GC	1.26,0.00,0.00,176.18,0.000,0.000,0.758,424,2655,419,-8.26,0.14,623.30	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16500.29,261110,060609	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029211	MEM	275884
HUMID	50.94	DATA_FILE_SIZE	50409,740
INTERNAL_PRESSURE	8.66244	CAP_FILE_SIZE	118670,0
TCM_TEMP	14.00	CFSIZE	260165632,249851904
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
ALTIM_TOP_PING	19.6,18.5	GPS	261110,062908,-7726.157,16510.441,181,99.0,181,144.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	219	98.86	SBE_CT	517	24	269.56
Roll_motor	108	87	205.43	AA4330	894	33	640.40
VBD_pump_during_apogee	477	1087	11269.20	WL_BBFL2VMT	876	105	1996.31
VBD_pump_during_surface	176	758	2898.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	221.26	nil	0	0	0.00
Iridium_during_connect	17	160	61.79	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	20.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	50	91.34
TT8	1780	19	352.49
LPSleep	2838	2	62.16
TT8_Active	786	19	155.81
TT8_Sampling	2070	39	824.06
TT8_CF8	179	45	82.23
TT8_Kalman	0	0	0.00
Analog_circuits	1623	12	194.80
GPS_charging	0	0	0.00
Compass	1286	15	192.90
RAFOS	0	0	0.00
Transponder	12	30	3.74

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	-0.84	-175.2	0.0	0.0	0	166	0.00	0.00	-148.32	0.000	2	0.000	0.000	420	2650	3243	0	0	0	0	0	0
169	-0.84	-175.2	3.0	-0.5	23	197	8.98	1.92	-13.05	0.000	4	0.220	0.087	2782	3763	3679	0	0	0	0	0	0
438	-0.70	-175.2	50.8	-18.5	71	445	0.20	1.77	0.00	0.000	6	0.161	0.048	2840	2640	3682	0	0	0	0	0	0
578	-0.70	-175.2	70.5	-13.6	96	585	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2638	3682	0	0	0	0	0	0
718	-0.70	-175.2	88.9	-13.2	121	724	0.00	1.85	0.00	0.000	4	0.000	0.070	2833	3760	3682	0	0	0	0	0	0
769	-0.67	-175.2	95.9	-13.7	130	777	0.00	1.77	0.00	0.000	6	0.000	0.047	2833	2655	3682	0	0	0	0	0	0
907	-0.65	-175.2	114.7	-13.6	145	908	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2654	3682	0	0	0	0	0	0
1035	-0.62	-175.2	131.9	-13.3	157	1039	0.12	1.83	0.00	0.000	4	0.171	0.072	2861	3759	3683	0	0	0	0	0	0
1102	-0.66	-175.2	139.9	-12.2	163	1105	0.00	1.75	0.00	0.000	6	0.000	0.048	2861	2638	3682	0	0	0	0	0	0
1244	-0.70	-175.2	155.5	-11.1	176	1247	0.00	1.85	0.00	0.000	4	0.000	0.071	2854	3765	3682	0	0	0	0	0	0
1289	-0.72	-175.2	161.1	-12.1	180	1293	0.00	1.75	0.00	0.000	6	0.000	0.046	2854	2640	3683	0	0	0	0	0	0
1430	-0.74	-175.2	177.9	-11.8	193	1434	0.00	1.85	0.00	0.000	4	0.000	0.070	2845	3763	3682	0	0	0	0	0	0
1464	-0.74	-175.2	182.4	-13.2	196	1468	0.00	1.75	0.00	0.000	6	0.000	0.047	2845	2641	3682	0	0	0	0	0	0
1606	-0.74	-175.2	199.5	-12.5	209	1610	0.00	1.83	0.00	0.000	4	0.000	0.071	2842	3759	3682	0	0	0	0	0	0
1662	-0.74	-175.2	206.9	-13.0	214	1666	0.00	1.73	0.00	0.000	6	0.000	0.047	2841	2652	3682	0	0	0	0	0	0
1804	-0.74	-175.2	224.7	-12.7	227	1807	0.00	1.83	0.00	0.000	4	0.000	0.071	2833	3764	3682	0	0	0	0	0	0
1829	-0.72	-175.2	228.7	-13.6	229	1839	0.00	1.80	0.00	0.000	6	0.000	0.047	2833	2641	3683	0	0	0	0	0	0
1965	-0.72	-175.2	246.2	-13.1	242	1969	0.00	1.83	0.00	0.000	4	0.000	0.070	2824	3760	3682	0	0	0	0	0	0
2002	-0.67	-175.2	251.9	-15.0	245	2009	0.00	1.77	0.00	0.000	6	0.000	0.047	2824	2648	3682	0	0	0	0	0	0
2200	-0.64	-175.2	278.7	-13.5	264	2204	0.12	1.85	0.00	0.000	4	0.169	0.072	2852	3767	3683	0	0	0	0	0	0
2250	-0.67	-175.2	285.0	-12.0	268	2257	0.00	1.77	0.00	0.000	6	0.000	0.048	2852	2637	3682	0	0	0	0	0	0
2449	-0.69	-175.2	307.3	-11.3	287	2452	0.00	1.85	0.00	0.000	4	0.000	0.072	2843	3759	3682	0	0	0	0	0	0
2497	-0.69	-175.2	313.7	-12.4	291	2505	0.00	1.77	0.00	0.000	6	0.000	0.047	2843	2650	3682	0	0	0	0	0	0
2695	-0.69	-175.2	337.3	-12.1	310	2699	0.00	1.85	0.00	0.000	4	0.000	0.073	2842	3769	3683	0	0	0	0	0	0
2744	-0.69	-175.2	343.6	-12.8	314	2753	0.00	1.80	0.00	0.000	6	0.000	0.048	2842	2645	3682	0	0	0	0	0	0
2942	-0.69	-175.2	367.5	-12.1	333	2946	0.00	1.83	0.00	0.000	4	0.000	0.072	2833	3759	3682	0	0	0	0	0	0
2991	-0.69	-175.2	374.0	-12.9	337	2999	0.00	1.77	0.00	0.000	6	0.000	0.047	2833	2651	3682	0	0	0	0	0	0
3189	-0.69	-175.2	398.9	-12.4	356	3193	0.00	1.83	0.00	0.000	4	0.000	0.072	2824	3766	3682	0	0	0	0	0	0
3237	-0.67	-175.2	405.4	-13.6	360	3241	0.00	1.75	0.00	0.000	6	0.000	0.049	2824	2645	3682	0	0	0	0	0	0
3439	-0.64	-175.2	431.9	-13.0	379	3444	0.12	1.85	0.00	0.000	4	0.167	0.072	2853	3760	3682	0	0	0	0	0	0
3496	-0.68	-175.2	438.6	-11.5	384	3500	0.00	1.73	0.00	0.000	6	0.000	0.048	2853	2651	3682	0	0	0	0	0	0
3602	end dive: TARGET_DEPTH_EXCEEDED
state	3602	begin apogee
3606	-0.17	0.0	450.2	10.5	394	3770	0.45	0.00	156.18	1.087	6	0.126	0.000	3002	2490	2960	0	0	0	0	0	0
3771	end apogee: CONTROL_FINISHED_OK
state	3771	begin climb
3773	0.84	175.2	456.3	0.0	409	3948	1.00	2.55	165.18	1.011	4	0.081	0.054	3333	1104	2245	0	0	0	0	0	0
4040	0.75	175.2	426.8	15.7	433	4044	0.00	2.42	0.00	0.000	6	0.000	0.056	3333	2496	2233	0	0	0	0	0	0
4237	0.60	175.2	394.1	16.3	451	4242	0.25	2.12	0.00	0.000	4	0.160	0.062	3259	3764	2228	0	0	0	0	0	0
4310	0.54	175.2	384.1	13.1	457	4314	0.00	2.05	0.00	0.000	6	0.000	0.049	3268	2503	2228	0	0	0	0	0	0
4508	0.52	188.7	361.2	11.4	475	4521	0.12	0.00	10.30	0.933	6	0.168	0.000	3234	2501	2191	0	0	0	0	0	0
4710	0.66	258.9	342.9	8.8	494	4788	0.12	2.33	66.43	1.005	4	0.086	0.066	3297	3770	1903	0	0	0	0	0	0
4812	0.61	258.9	329.0	15.7	503	4817	0.17	2.15	0.00	0.000	6	0.151	0.049	3261	2501	1899	0	0	0	0	0	0
5010	0.68	284.0	306.5	10.8	521	5037	0.00	2.40	22.15	0.954	4	0.000	0.057	3261	1086	1804	0	0	0	0	0	0
5072	0.84	326.9	299.9	10.0	526	5120	0.22	2.40	40.47	0.957	6	0.063	0.057	3351	2502	1626	0	0	0	0	0	0
5318	0.74	326.9	251.6	20.6	549	5322	0.17	2.12	0.00	0.000	4	0.158	0.063	3305	3770	1615	0	0	0	0	0	0
5347	0.68	326.9	246.2	19.1	551	5352	0.00	2.10	0.00	0.000	6	0.000	0.050	3312	2496	1615	0	0	0	0	0	0
5482	0.68	326.9	224.6	16.2	563	5486	0.00	2.30	0.00	0.000	4	0.000	0.060	3316	1087	1612	0	0	0	0	0	0
5522	0.71	326.9	218.8	14.2	566	5526	0.00	2.35	0.00	0.000	6	0.000	0.057	3316	2506	1611	0	0	0	0	0	0
5658	0.69	326.9	197.2	16.5	578	5661	0.00	2.05	0.00	0.000	4	0.000	0.065	3316	3764	1611	0	0	0	0	0	0
5682	0.65	326.9	192.9	16.3	580	5686	0.17	2.03	0.00	0.000	6	0.145	0.050	3276	2499	1611	0	0	0	0	0	0
5817	0.72	330.2	175.7	11.8	592	5821	0.00	2.25	0.00	0.000	4	0.000	0.057	3284	1087	1609	0	0	0	0	0	0
5857	0.83	341.4	170.9	11.5	595	5874	0.15	2.33	11.32	0.874	6	0.083	0.057	3349	2509	1569	0	0	0	0	0	0
6010	0.75	341.4	142.6	19.7	609	6014	0.15	2.05	0.00	0.000	4	0.161	0.064	3309	3762	1565	0	0	0	0	0	0
6041	0.72	341.4	136.3	17.9	611	6049	0.00	2.05	0.00	0.000	6	0.000	0.047	3315	2501	1565	0	0	0	0	0	0
6176	0.72	341.4	115.5	15.7	624	6180	0.00	2.25	0.00	0.000	4	0.000	0.056	3325	1083	1564	0	0	0	0	0	0
6216	0.75	341.4	109.4	15.3	627	6220	0.00	2.33	0.00	0.000	6	0.000	0.057	3325	2510	1562	0	0	0	0	0	0
6350	0.72	341.4	87.0	17.2	646	6358	0.00	2.08	0.00	0.000	4	0.000	0.066	3324	3767	1563	0	0	0	0	0	0
6375	0.69	341.4	82.5	18.2	650	6383	0.12	2.08	0.00	0.000	6	0.129	0.050	3286	2494	1562	0	0	0	0	0	0
6516	0.75	341.4	64.3	12.8	675	6523	0.00	2.28	0.00	0.000	4	0.000	0.060	3288	1088	1562	0	0	0	0	0	0
6556	0.86	347.3	59.4	11.7	682	6571	0.12	2.33	5.70	0.741	6	0.051	0.058	3355	2493	1546	0	0	0	0	0	0
6703	0.78	347.3	31.0	22.6	708	6712	0.15	2.10	0.00	0.000	4	0.161	0.063	3314	3761	1544	0	0	0	0	0	0
6729	0.73	347.3	25.7	20.8	712	6737	0.00	2.05	0.00	0.000	6	0.000	0.050	3321	2499	1544	0	0	0	0	0	0
6872	end climb: SURFACE_DEPTH_REACHED
state	6872	begin surface coast
6890	end surface coast: CONTROL_FINISHED_OK
state	6890	begin surface