Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 919 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 7 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 919 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 4 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 250 R_PORT_OVSHOOT 47 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 51 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 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 1 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 4 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 300 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 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 4 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 20 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -20694.953 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 AH0_24V 134.3 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 102.9 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 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 175 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2800 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043281103

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.009045 SEABIRD_T_H 0.00062152545

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.1491383e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0368557e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.162479

NAV_MODE 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1594115

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I 4.3937558e-05

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00011023274

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 102.9 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 250

AH0_24V 134.3 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 4

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 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 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 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 4 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.009045 T_DIVE 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 4

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 -20694.953

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 300

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0099999998 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 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 2800 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 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 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 175 R_PORT_OVSHOOT 47 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 51 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 919 NAV_MODE 2 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 300111,034125,-7608.388,17510.094,43,1.6,45,123.5 TGT_NAME CORNER_NW

_CALLS 1 TGT_LATLONG -7605.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300111,034832,-7608.412,17510.213,12,1.6,12,123.5 MHEAD_RNG_PITCHd_Wd 187.2,7785,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 447

Post-dive calculations and measurements:

FREEZE 0.08,0.391,-1.889,2,1,0 _24V_AH 21.2,97.168

FINISH 0.1,1.027610 _10V_AH 9.7,40.324

SM_CCo 7762,10.60,0.103,0,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 1.91,0.00,0.00,10.60,0.000,0.000,0.103,184,2745,1940,-8.18,-0.99,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7519.49,17521.63,300111,010148 MEM 258128

TT8_MAMPS 0.027713 DATA_FILE_SIZE 57002,845

HUMID 54.29 CAP_FILE_SIZE 105073,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,209391616

TCM_TEMP 14.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 0 CURRENT 0.115,122.1,1

ALTIM_TOP_PING 19.9,20.1 GPS 300111,060007,-7607.866,17508.184,48,0.8,49,123.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 203 79.05 SBE_CT 592 24 301.71

Roll_motor 52 80 89.78 AA4330 1022 33 715.18

VBD_pump_during_apogee 352 1025 7676.08 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 10 102 23.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 48.70 nil 0 0 0.00

Iridium_during_connect 37 160 127.35 nil 0 0 0.00

Iridium_during_xfer 193 223 916.92 nil 0 0 0.00

Transponder_ping 1 420 11.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.20

TT8 2111 19 405.61

LPSleep 3622 2 76.94

TT8_Active 448 19 86.20

TT8_Sampling 1657 39 639.73

TT8_CF8 360 45 160.29

TT8_Kalman 0 0 0.00

Analog_circuits 1235 12 143.81

GPS_charging 0 0 0.00

Compass 1351 15 196.60

RAFOS 0 0 0.00

Transponder 9 30 2.76

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

16 -0.71 -170.3 0.0 0.0 0 96 0.00 0.00 -77.47 0.000 2 0.000 0.000 176 2804 3562 0 0 0 0 0 0

100 -0.71 -170.3 4.1 -10.5 13 121 9.12 2.33 -1.88 0.000 4 0.203 0.043 2560 1365 3660 0 0 1 0 0 0

341 -0.71 -170.3 46.7 -12.2 55 349 0.00 2.28 0.00 0.000 6 0.000 0.041 2550 2767 3662 0 0 0 0 0 0

485 -0.71 -170.3 65.7 -14.2 80 491 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2767 3663 0 0 0 0 0 0

626 -0.71 -170.3 85.5 -14.3 105 633 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2767 3663 0 0 0 0 0 0

768 -0.71 -170.3 105.2 -14.1 127 771 0.00 1.62 0.00 0.000 4 0.000 0.047 2543 3785 3663 0 0 0 0 0 0

807 -0.71 -170.3 111.5 -15.0 130 814 0.00 1.60 0.00 0.000 6 0.000 0.027 2543 2769 3663 0 0 0 0 0 0

942 -0.71 -170.3 130.8 -14.0 143 943 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2769 3664 0 0 0 0 0 0

1071 -0.71 -170.3 149.6 -14.3 155 1078 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2768 3664 0 0 0 0 0 0

1207 -0.71 -170.3 168.9 -14.2 168 1211 0.00 1.65 0.00 0.000 4 0.000 0.047 2535 3752 3664 0 0 0 0 0 0

1246 -0.71 -170.3 175.0 -15.1 171 1254 0.08 1.58 0.00 0.000 6 0.133 0.028 2562 2763 3664 0 0 0 0 0 0

1382 -0.71 -170.3 192.0 -12.4 184 1383 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2763 3664 0 0 0 0 0 0

1508 -0.71 -170.3 208.0 -12.3 196 1510 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2764 3664 0 0 0 0 0 0

1636 -0.71 -170.3 223.7 -12.3 208 1640 0.00 1.67 0.00 0.000 4 0.000 0.048 2555 3760 3664 0 0 0 0 0 0

1686 -0.71 -170.3 230.5 -13.1 212 1693 0.00 1.58 0.00 0.000 6 0.000 0.028 2556 2770 3663 0 0 0 0 0 0

1821 -0.71 -170.3 247.2 -12.5 225 1822 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2770 3663 0 0 0 0 0 0

1948 -0.71 -170.3 263.6 -12.7 237 1950 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2770 3664 0 0 0 0 0 0

2140 -0.71 -170.3 288.1 -13.1 255 2143 0.00 1.62 0.00 0.000 4 0.000 0.048 2548 3766 3663 0 0 0 0 0 0

2212 -0.71 -170.3 298.3 -13.5 261 2219 0.00 1.55 0.00 0.000 6 0.000 0.028 2548 2789 3663 0 0 0 0 0 0

2412 -0.71 -170.3 324.6 -13.1 280 2413 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2789 3663 0 0 0 0 0 0

2602 -0.71 -170.3 349.5 -12.4 298 2606 0.00 1.62 0.00 0.000 4 0.000 0.047 2540 3786 3663 0 0 0 0 0 0

2647 -0.71 -170.3 355.7 -14.0 302 2651 0.05 1.58 0.00 0.000 6 0.134 0.028 2575 2790 3662 0 0 0 0 0 0

2851 -0.71 -170.3 377.7 -10.2 321 2853 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2791 3663 0 0 0 0 0 0

3041 -0.71 -170.3 397.5 -10.4 339 3042 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2790 3663 0 0 0 0 0 0

3234 -0.71 -170.3 417.8 -10.6 357 3238 0.00 1.62 0.00 0.000 4 0.000 0.047 2568 3788 3663 0 0 0 0 0 0

3281 -0.71 -170.3 423.4 -11.8 361 3285 0.00 1.58 0.00 0.000 6 0.000 0.028 2568 2790 3663 0 0 0 0 0 0

3487 -0.71 -170.3 446.6 -11.6 380 3493 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2790 3663 0 0 0 0 0 0

3502 end dive: TARGET_DEPTH_EXCEEDED

state 3502 begin apogee

3511 -0.16 0.0 448.9 11.5 382 3659 0.52 0.00 142.15 1.026 4 0.112 0.000 2746 2685 2960 0 0 0 0 0 0

3660 end apogee: CONTROL_FINISHED_OK

state 3660 begin climb

3663 0.71 170.3 455.7 0.0 395 3828 0.85 2.33 155.98 0.972 4 0.069 0.033 3034 1310 2265 0 0 0 0 0 0

3834 0.78 225.1 449.8 7.8 409 3897 0.00 2.53 54.83 0.934 6 0.000 0.039 3034 2695 2042 0 0 0 0 0 0

4088 0.78 225.1 423.8 10.6 433 4092 0.00 1.85 0.00 0.000 4 0.000 0.047 3034 3772 2041 0 0 0 0 0 0

4161 0.78 225.1 414.6 12.3 439 4168 0.00 1.70 0.00 0.000 6 0.000 0.028 3042 2717 2040 0 0 1 0 0 0

4361 0.78 225.1 391.8 11.5 458 4362 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2717 2039 0 0 0 0 0 0

4552 0.78 225.1 370.5 11.0 476 4553 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2717 2038 0 0 0 0 0 0

4741 0.78 225.1 350.0 10.8 494 4745 0.00 1.73 0.00 0.000 4 0.000 0.047 3042 3775 2037 0 0 0 0 0 0

4799 0.78 225.1 343.0 12.5 499 4803 0.00 1.70 0.00 0.000 6 0.000 0.029 3050 2714 2037 0 0 0 0 0 0

5003 0.78 225.1 319.3 11.4 518 5004 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2711 2037 0 0 0 0 0 0

5195 0.78 225.1 297.9 11.2 536 5198 0.00 1.73 0.00 0.000 4 0.000 0.047 3050 3767 2037 0 0 0 0 0 0

5241 0.78 225.1 291.8 13.6 540 5245 0.00 1.65 0.00 0.000 6 0.000 0.029 3058 2704 2036 0 0 1 0 0 0

5445 0.78 225.1 266.9 12.4 559 5446 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2701 2036 0 0 0 0 0 0

5637 0.78 225.1 243.7 12.0 577 5641 0.00 1.75 0.00 0.000 4 0.000 0.048 3058 3771 2036 0 0 0 0 0 0

5698 0.78 225.1 235.0 14.4 582 5705 0.00 1.70 0.00 0.000 6 0.000 0.028 3065 2713 2036 0 0 0 0 0 0

5833 0.78 225.1 218.4 12.5 595 5834 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2713 2035 0 0 0 0 0 0

5961 0.78 225.1 203.2 12.0 607 5963 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2712 2035 0 0 0 0 0 0

6088 0.78 225.1 187.4 12.4 619 6092 0.00 1.73 0.00 0.000 4 0.000 0.047 3066 3769 2035 0 0 0 0 0 0

6157 0.78 225.1 178.0 14.4 625 6161 0.00 1.65 0.00 0.000 6 0.000 0.029 3074 2711 2035 0 0 0 0 0 0

6298 0.78 225.1 160.0 12.5 638 6300 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2710 2035 0 0 0 0 0 0

6425 0.78 225.1 144.8 11.8 650 6429 0.00 1.73 0.00 0.000 4 0.000 0.047 3074 3768 2035 0 0 0 0 0 0

6461 0.78 225.1 140.2 13.8 653 6465 0.12 1.65 0.00 0.000 6 0.159 0.029 3046 2713 2035 0 0 0 0 0 0

6602 0.78 225.1 125.0 10.8 666 6603 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2713 2034 0 0 0 0 0 0

6728 0.78 225.1 111.6 10.7 678 6729 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2714 2034 0 0 0 0 0 0

6857 0.78 225.1 97.9 11.2 691 6863 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2713 2034 0 0 0 0 0 0

7000 0.78 225.1 82.2 10.9 716 7007 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2714 2034 0 0 0 0 0 0

7144 0.78 225.1 66.3 11.3 741 7151 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2713 2034 0 0 0 0 0 0

7289 0.78 225.1 50.7 10.4 766 7295 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2713 2034 0 0 0 0 0 0

7432 0.78 225.1 35.4 10.9 791 7439 0.00 1.75 0.00 0.000 4 0.000 0.047 3045 3757 2034 0 0 0 0 0 0

7475 0.78 225.1 30.3 12.3 798 7482 0.00 1.60 0.00 0.000 6 0.000 0.031 3052 2746 2034 0 0 1 0 0 0

7619 0.78 225.1 14.0 11.5 823 7625 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2746 2034 0 0 0 0 0 0

7720 end climb: SURFACE_DEPTH_REACHED

state 7720 begin surface coast

7743 end surface coast: CONTROL_FINISHED_OK

state 7744 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	7	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	919	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	4	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	250	R_PORT_OVSHOOT	47	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	51	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	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	1	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	4	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	300	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	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	4	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	20	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-20694.953	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	AH0_24V	134.3	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	102.9	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	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	175	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2800	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043281103
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.009045	SEABIRD_T_H	0.00062152545
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.1491383e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0368557e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.162479
NAV_MODE	2	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1594115
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	4.3937558e-05
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00011023274
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	300111,034125,-7608.388,17510.094,43,1.6,45,123.5	TGT_NAME	CORNER_NW
_CALLS	1	TGT_LATLONG	-7605.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300111,034832,-7608.412,17510.213,12,1.6,12,123.5	MHEAD_RNG_PITCHd_Wd	187.2,7785,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	447

FREEZE	0.08,0.391,-1.889,2,1,0	_24V_AH	21.2,97.168
FINISH	0.1,1.027610	_10V_AH	9.7,40.324
SM_CCo	7762,10.60,0.103,0,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	1.91,0.00,0.00,10.60,0.000,0.000,0.103,184,2745,1940,-8.18,-0.99,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7519.49,17521.63,300111,010148	MEM	258128
TT8_MAMPS	0.027713	DATA_FILE_SIZE	57002,845
HUMID	54.29	CAP_FILE_SIZE	105073,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,209391616
TCM_TEMP	14.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	0	CURRENT	0.115,122.1,1
ALTIM_TOP_PING	19.9,20.1	GPS	300111,060007,-7607.866,17508.184,48,0.8,49,123.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	203	79.05	SBE_CT	592	24	301.71
Roll_motor	52	80	89.78	AA4330	1022	33	715.18
VBD_pump_during_apogee	352	1025	7676.08	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	10	102	23.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	48.70	nil	0	0	0.00
Iridium_during_connect	37	160	127.35	nil	0	0	0.00
Iridium_during_xfer	193	223	916.92	nil	0	0	0.00
Transponder_ping	1	420	11.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.20
TT8	2111	19	405.61
LPSleep	3622	2	76.94
TT8_Active	448	19	86.20
TT8_Sampling	1657	39	639.73
TT8_CF8	360	45	160.29
TT8_Kalman	0	0	0.00
Analog_circuits	1235	12	143.81
GPS_charging	0	0	0.00
Compass	1351	15	196.60
RAFOS	0	0	0.00
Transponder	9	30	2.76

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
16	-0.71	-170.3	0.0	0.0	0	96	0.00	0.00	-77.47	0.000	2	0.000	0.000	176	2804	3562	0	0	0	0	0	0
100	-0.71	-170.3	4.1	-10.5	13	121	9.12	2.33	-1.88	0.000	4	0.203	0.043	2560	1365	3660	0	0	1	0	0	0
341	-0.71	-170.3	46.7	-12.2	55	349	0.00	2.28	0.00	0.000	6	0.000	0.041	2550	2767	3662	0	0	0	0	0	0
485	-0.71	-170.3	65.7	-14.2	80	491	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2767	3663	0	0	0	0	0	0
626	-0.71	-170.3	85.5	-14.3	105	633	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2767	3663	0	0	0	0	0	0
768	-0.71	-170.3	105.2	-14.1	127	771	0.00	1.62	0.00	0.000	4	0.000	0.047	2543	3785	3663	0	0	0	0	0	0
807	-0.71	-170.3	111.5	-15.0	130	814	0.00	1.60	0.00	0.000	6	0.000	0.027	2543	2769	3663	0	0	0	0	0	0
942	-0.71	-170.3	130.8	-14.0	143	943	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2769	3664	0	0	0	0	0	0
1071	-0.71	-170.3	149.6	-14.3	155	1078	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2768	3664	0	0	0	0	0	0
1207	-0.71	-170.3	168.9	-14.2	168	1211	0.00	1.65	0.00	0.000	4	0.000	0.047	2535	3752	3664	0	0	0	0	0	0
1246	-0.71	-170.3	175.0	-15.1	171	1254	0.08	1.58	0.00	0.000	6	0.133	0.028	2562	2763	3664	0	0	0	0	0	0
1382	-0.71	-170.3	192.0	-12.4	184	1383	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2763	3664	0	0	0	0	0	0
1508	-0.71	-170.3	208.0	-12.3	196	1510	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2764	3664	0	0	0	0	0	0
1636	-0.71	-170.3	223.7	-12.3	208	1640	0.00	1.67	0.00	0.000	4	0.000	0.048	2555	3760	3664	0	0	0	0	0	0
1686	-0.71	-170.3	230.5	-13.1	212	1693	0.00	1.58	0.00	0.000	6	0.000	0.028	2556	2770	3663	0	0	0	0	0	0
1821	-0.71	-170.3	247.2	-12.5	225	1822	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2770	3663	0	0	0	0	0	0
1948	-0.71	-170.3	263.6	-12.7	237	1950	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2770	3664	0	0	0	0	0	0
2140	-0.71	-170.3	288.1	-13.1	255	2143	0.00	1.62	0.00	0.000	4	0.000	0.048	2548	3766	3663	0	0	0	0	0	0
2212	-0.71	-170.3	298.3	-13.5	261	2219	0.00	1.55	0.00	0.000	6	0.000	0.028	2548	2789	3663	0	0	0	0	0	0
2412	-0.71	-170.3	324.6	-13.1	280	2413	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2789	3663	0	0	0	0	0	0
2602	-0.71	-170.3	349.5	-12.4	298	2606	0.00	1.62	0.00	0.000	4	0.000	0.047	2540	3786	3663	0	0	0	0	0	0
2647	-0.71	-170.3	355.7	-14.0	302	2651	0.05	1.58	0.00	0.000	6	0.134	0.028	2575	2790	3662	0	0	0	0	0	0
2851	-0.71	-170.3	377.7	-10.2	321	2853	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2791	3663	0	0	0	0	0	0
3041	-0.71	-170.3	397.5	-10.4	339	3042	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2790	3663	0	0	0	0	0	0
3234	-0.71	-170.3	417.8	-10.6	357	3238	0.00	1.62	0.00	0.000	4	0.000	0.047	2568	3788	3663	0	0	0	0	0	0
3281	-0.71	-170.3	423.4	-11.8	361	3285	0.00	1.58	0.00	0.000	6	0.000	0.028	2568	2790	3663	0	0	0	0	0	0
3487	-0.71	-170.3	446.6	-11.6	380	3493	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2790	3663	0	0	0	0	0	0
3502	end dive: TARGET_DEPTH_EXCEEDED
state	3502	begin apogee
3511	-0.16	0.0	448.9	11.5	382	3659	0.52	0.00	142.15	1.026	4	0.112	0.000	2746	2685	2960	0	0	0	0	0	0
3660	end apogee: CONTROL_FINISHED_OK
state	3660	begin climb
3663	0.71	170.3	455.7	0.0	395	3828	0.85	2.33	155.98	0.972	4	0.069	0.033	3034	1310	2265	0	0	0	0	0	0
3834	0.78	225.1	449.8	7.8	409	3897	0.00	2.53	54.83	0.934	6	0.000	0.039	3034	2695	2042	0	0	0	0	0	0
4088	0.78	225.1	423.8	10.6	433	4092	0.00	1.85	0.00	0.000	4	0.000	0.047	3034	3772	2041	0	0	0	0	0	0
4161	0.78	225.1	414.6	12.3	439	4168	0.00	1.70	0.00	0.000	6	0.000	0.028	3042	2717	2040	0	0	1	0	0	0
4361	0.78	225.1	391.8	11.5	458	4362	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2717	2039	0	0	0	0	0	0
4552	0.78	225.1	370.5	11.0	476	4553	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2717	2038	0	0	0	0	0	0
4741	0.78	225.1	350.0	10.8	494	4745	0.00	1.73	0.00	0.000	4	0.000	0.047	3042	3775	2037	0	0	0	0	0	0
4799	0.78	225.1	343.0	12.5	499	4803	0.00	1.70	0.00	0.000	6	0.000	0.029	3050	2714	2037	0	0	0	0	0	0
5003	0.78	225.1	319.3	11.4	518	5004	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2711	2037	0	0	0	0	0	0
5195	0.78	225.1	297.9	11.2	536	5198	0.00	1.73	0.00	0.000	4	0.000	0.047	3050	3767	2037	0	0	0	0	0	0
5241	0.78	225.1	291.8	13.6	540	5245	0.00	1.65	0.00	0.000	6	0.000	0.029	3058	2704	2036	0	0	1	0	0	0
5445	0.78	225.1	266.9	12.4	559	5446	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2701	2036	0	0	0	0	0	0
5637	0.78	225.1	243.7	12.0	577	5641	0.00	1.75	0.00	0.000	4	0.000	0.048	3058	3771	2036	0	0	0	0	0	0
5698	0.78	225.1	235.0	14.4	582	5705	0.00	1.70	0.00	0.000	6	0.000	0.028	3065	2713	2036	0	0	0	0	0	0
5833	0.78	225.1	218.4	12.5	595	5834	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2713	2035	0	0	0	0	0	0
5961	0.78	225.1	203.2	12.0	607	5963	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2712	2035	0	0	0	0	0	0
6088	0.78	225.1	187.4	12.4	619	6092	0.00	1.73	0.00	0.000	4	0.000	0.047	3066	3769	2035	0	0	0	0	0	0
6157	0.78	225.1	178.0	14.4	625	6161	0.00	1.65	0.00	0.000	6	0.000	0.029	3074	2711	2035	0	0	0	0	0	0
6298	0.78	225.1	160.0	12.5	638	6300	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2710	2035	0	0	0	0	0	0
6425	0.78	225.1	144.8	11.8	650	6429	0.00	1.73	0.00	0.000	4	0.000	0.047	3074	3768	2035	0	0	0	0	0	0
6461	0.78	225.1	140.2	13.8	653	6465	0.12	1.65	0.00	0.000	6	0.159	0.029	3046	2713	2035	0	0	0	0	0	0
6602	0.78	225.1	125.0	10.8	666	6603	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2713	2034	0	0	0	0	0	0
6728	0.78	225.1	111.6	10.7	678	6729	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2714	2034	0	0	0	0	0	0
6857	0.78	225.1	97.9	11.2	691	6863	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2713	2034	0	0	0	0	0	0
7000	0.78	225.1	82.2	10.9	716	7007	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2714	2034	0	0	0	0	0	0
7144	0.78	225.1	66.3	11.3	741	7151	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2713	2034	0	0	0	0	0	0
7289	0.78	225.1	50.7	10.4	766	7295	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2713	2034	0	0	0	0	0	0
7432	0.78	225.1	35.4	10.9	791	7439	0.00	1.75	0.00	0.000	4	0.000	0.047	3045	3757	2034	0	0	0	0	0	0
7475	0.78	225.1	30.3	12.3	798	7482	0.00	1.60	0.00	0.000	6	0.000	0.031	3052	2746	2034	0	0	1	0	0	0
7619	0.78	225.1	14.0	11.5	823	7625	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2746	2034	0	0	0	0	0	0
7720	end climb: SURFACE_DEPTH_REACHED
state	7720	begin surface coast
7743	end surface coast: CONTROL_FINISHED_OK
state	7744	begin surface