Glider dive log

ITOP Sep10 * SG168 * Dive index * Mission links * Dive 477 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 168 HD_C 9.9999997e-06 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_MAX 3729 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 477 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 484 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1550 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 400 R_PORT_OVSHOOT 42 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 51 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 415 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3068 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 240 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 300 CAPUPLOAD 0 VBD_TIMEOUT 540 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 15 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 -5 T_GPS_CHARGE -3880.5447 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 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 0 PITCH_MIN 143 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 190 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3252 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042824708

GLIDE_SLOPE 30 PITCH_DBAND 0.050000001 PRESSURE_YINT -59.994087 SEABIRD_T_H 0.00062080647

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.3031862e-05

RHO 1.02625 P_OVSHOOT 0.029999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5001771e-06

MASS 51866 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8237314

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1028168

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0011486846

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017813468

HD_A 0.003 PITCH_ADJ_GAIN 0.0070000002 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0070000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3945 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 143 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000115925 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -59.994087 T_DIVE 240

CALL_TRIES 5 HD_A 0.003 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.029999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -3880.5447

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 300

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 168 RHO 1.02625 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 T_WATCHDOG 10

C_PITCH 3252 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_ROLL_CLIMB 1700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1550 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -5

C_VBD 3068 LOGGERDEVICE3 -1 ROLL_MAX 3729 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 160 VBD_CNV -0.24529999

DEVICE1 2 MASS 51866 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 190 R_PORT_OVSHOOT 42 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 51 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8237314 VBD_MIN 415

DEVICE5 -1 MISSION 2 SEABIRD_C_H 1.1028168 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0011486846 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 477 NAV_MODE 2 SEABIRD_C_J 0.00017813468 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 484 SEABIRD_T_G 0.0042824708 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062080647 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3031862e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5001771e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 111110,171255,2121.787,12601.715,37,1.7,37,-2.9 TGT_NAME PICKUP

_CALLS 1 TGT_LATLONG 2121.600,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111110,171844,2121.728,12601.720,14,1.7,14,-2.9 MHEAD_RNG_PITCHd_Wd 264.4,927,-27.7,-13.889

SPEED_LIMITS 0.241,0.322 D_GRID 1000

Post-dive calculations and measurements:

FREEZE 3.50,26.324,-1.886,0,1,0 _10V_AH 10.1,47.097

SM_CCo 11611,106.82,0.484,0,0,414,650.78 FG_AHR_24Vo 0.000

SM_GC 4.33,8.85,0.00,0.00,0.017,0.000,0.000,105,1545,410,-9.68,-0.11,652.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2115.63,12559.43,111110,131348 MEM 333960

TT8_MAMPS 0.026964 DATA_FILE_SIZE 67062,1181

HUMID 47.04 CAP_FILE_SIZE 137758,0

INTERNAL_PRESSURE 9.43396 CFSIZE 260165632,224194560

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 10 CURRENT 0.106,123.4,1

_24V_AH 23.3,67.059 GPS 111110,203937,2121.137,12600.440,35,0.9,36,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 219 112.80 SBE_CT 801 24 447.93

Roll_motor 110 65 166.77 AA4330 0 0 0.00

VBD_pump_during_apogee 468 1207 13167.68 WL_BB2F 0 0 0.00

VBD_pump_during_surface 106 484 1205.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 0 0.00 nil 0 0 0.00

Iridium_during_connect 41 0 0.00 nil 0 0 0.00

Iridium_during_xfer 137 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 24.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 0 0.00

TT8 2878 19 575.63

LPSleep 6318 2 139.75

TT8_Active 695 19 139.06

TT8_Sampling 2151 39 864.90

TT8_CF8 254 45 117.68

TT8_Kalman 0 0 0.00

Analog_circuits 1758 12 213.10

GPS_charging 0 0 0.00

Compass 1922 15 291.22

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -0.74 -102.9 0.0 0.0 0 24 0.00 0.00 -7.28 0.000 2 0.000 0.000 104 1530 639 0 0 0 0 0 0

27 -0.84 -185.1 4.3 -0.0 1 172 9.52 2.22 -123.70 0.000 4 0.160 0.057 2972 2955 3824 0 0 0 0 0 0

312 -0.86 -185.1 41.3 -25.0 50 319 0.00 2.17 0.00 0.000 6 0.000 0.045 2972 1563 3825 0 0 0 0 0 0

656 -0.85 -185.1 151.7 -24.5 111 663 0.00 2.17 0.00 0.000 4 0.000 0.053 2972 166 3825 0 0 0 0 0 0

692 -0.84 -185.1 161.9 -27.8 117 701 0.08 2.08 0.00 0.000 6 0.184 0.037 2982 1537 3824 0 0 0 0 0 0

1037 -0.84 -185.1 236.5 -20.5 178 1044 0.00 2.17 0.00 0.000 4 0.000 0.043 2972 2959 3825 0 0 0 0 0 0

1086 -0.88 -185.1 245.5 -17.5 186 1092 0.00 2.17 0.00 0.000 6 0.000 0.044 2972 1552 3825 0 0 0 0 0 0

1431 -0.90 -185.1 311.7 -18.5 242 1435 0.00 2.17 0.00 0.000 4 0.000 0.053 2972 156 3825 0 0 0 0 0 0

1493 -0.92 -185.1 323.5 -18.2 247 1497 0.00 2.10 0.00 0.000 6 0.000 0.037 2962 1543 3825 0 0 0 0 0 0

1819 -0.94 -185.1 383.4 -18.6 277 1823 0.00 2.15 0.00 0.000 4 0.000 0.044 2952 2960 3824 0 0 0 0 0 0

1908 -0.99 -185.1 398.4 -15.4 284 1915 0.00 2.20 0.00 0.000 6 0.000 0.044 2952 1542 3824 0 0 0 0 0 0

2234 -1.00 -185.1 459.7 -18.3 315 2236 0.08 0.00 0.00 0.000 6 0.120 0.000 2839 1542 3822 0 0 0 0 0 0

2552 -0.95 -185.1 548.9 -27.4 345 2557 0.32 2.20 0.00 0.000 4 0.125 0.043 2932 2961 3820 0 0 0 0 0 0

2616 -0.99 -185.1 560.8 -15.4 350 2621 0.00 2.17 0.00 0.000 6 0.000 0.047 2932 1551 3820 0 0 0 0 0 0

2951 -1.01 -185.1 617.4 -16.5 376 2954 0.00 2.22 0.00 0.000 4 0.000 0.047 2922 2960 3817 0 0 0 0 0 0

2992 -1.04 -185.1 624.3 -15.4 378 2996 0.00 2.20 0.00 0.000 6 0.000 0.048 2922 1553 3816 0 0 0 0 0 0

3320 -1.06 -185.1 683.2 -18.8 394 3324 0.00 2.20 0.00 0.000 4 0.000 0.049 2911 2957 3813 0 0 0 0 0 0

3347 -1.08 -185.1 688.6 -18.5 395 3351 0.00 2.20 0.00 0.000 6 0.000 0.049 2912 1559 3813 0 0 0 0 0 0

3670 -1.09 -185.1 750.5 -19.6 411 3671 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1559 3810 0 0 0 0 0 0

3979 -1.10 -185.1 809.6 -18.9 426 3983 0.00 2.20 0.00 0.000 4 0.000 0.050 2900 2959 3806 0 0 0 0 0 0

4030 -1.13 -185.1 818.7 -17.2 428 4034 0.00 2.22 0.00 0.000 6 0.000 0.050 2901 1559 3805 0 0 0 0 0 0

4351 -1.13 -185.1 878.2 -18.5 444 4355 0.00 2.20 0.00 0.000 4 0.000 0.051 2891 2958 3802 0 0 0 0 0 0

4372 -1.15 -185.1 882.5 -18.6 445 4376 0.00 2.22 0.00 0.000 6 0.000 0.051 2891 1555 3801 0 0 0 0 0 0

4700 -1.15 -185.1 941.9 -17.9 461 4704 0.00 2.22 0.00 0.000 4 0.000 0.063 2891 166 3798 0 0 0 0 0 0

4731 -1.15 -185.1 948.3 -19.1 462 4739 0.00 2.17 0.00 0.000 6 0.000 0.043 2880 1553 3798 0 0 0 0 0 0

5025 end dive: TARGET_DEPTH_EXCEEDED

state 5025 begin apogee

5031 0.00 0.0 1003.8 18.7 477 5190 1.05 0.00 152.90 1.207 4 0.103 0.000 3247 1716 3068 0 0 0 0 0 0

5190 end apogee: CONTROL_FINISHED_OK

state 5190 begin climb

5193 0.84 185.1 1009.8 0.0 484 5361 0.73 2.28 161.20 1.130 4 0.028 0.048 3571 3099 2313 0 0 0 0 0 0

5501 0.79 185.1 951.4 26.9 498 5508 0.28 2.25 0.00 0.000 6 0.161 0.048 3504 1699 2304 0 0 0 0 0 0

5818 0.77 185.1 883.8 20.9 514 5822 0.00 2.25 0.00 0.000 4 0.000 0.060 3514 286 2299 0 0 0 0 0 0

5850 0.74 185.1 876.1 22.8 515 5858 0.10 2.15 0.00 0.000 6 0.172 0.033 3487 1705 2298 0 0 0 0 0 0

6168 0.73 185.1 812.5 20.2 531 6171 0.00 2.15 0.00 0.000 4 0.000 0.042 3487 3105 2296 0 0 0 0 0 0

6207 0.73 185.1 804.1 19.9 533 6211 0.00 2.22 0.00 0.000 6 0.000 0.050 3498 1701 2296 0 0 0 0 0 0

6535 0.72 185.1 737.3 20.2 549 6540 0.08 2.17 0.00 0.000 4 0.220 0.041 3480 3106 2293 0 0 0 0 0 0

6567 0.72 185.1 730.4 19.8 550 6574 0.00 2.25 0.00 0.000 6 0.000 0.049 3490 1707 2294 0 0 0 0 0 0

6884 0.72 185.1 672.4 17.9 566 6887 0.00 2.17 0.00 0.000 4 0.000 0.042 3490 3107 2292 0 0 0 0 0 0

6911 0.72 185.1 667.0 18.1 567 6916 0.08 2.20 0.00 0.000 6 0.197 0.050 3483 1709 2292 0 0 0 0 0 0

7232 0.72 185.1 612.7 16.7 583 7233 0.00 0.00 0.00 0.000 6 0.000 0.000 3483 1709 2290 0 0 0 0 0 0

7548 0.72 185.1 559.8 16.2 609 7552 0.00 2.15 0.00 0.000 4 0.000 0.042 3483 3103 2289 0 0 0 0 0 0

7595 0.73 185.1 551.6 18.5 613 7599 0.00 2.20 0.00 0.000 6 0.000 0.048 3492 1710 2290 0 0 0 0 0 0

7921 0.73 185.1 494.9 16.8 643 7925 0.00 2.15 0.00 0.000 4 0.000 0.042 3492 3105 2288 0 0 0 0 0 0

7959 0.73 185.1 488.0 16.7 646 7967 0.05 2.22 0.00 0.000 6 0.155 0.049 3485 1712 2288 0 0 0 0 0 0

8286 0.73 185.1 438.1 15.2 677 8290 0.00 2.25 0.00 0.000 4 0.000 0.058 3495 290 2287 0 0 0 0 0 0

8329 0.73 185.1 430.9 15.4 680 8336 0.00 2.17 0.00 0.000 6 0.000 0.034 3495 1704 2287 0 0 0 0 0 0

8654 0.73 185.1 380.6 14.6 711 8658 0.00 2.15 0.00 0.000 4 0.000 0.042 3495 3109 2286 0 0 0 0 0 0

8696 0.74 185.1 374.5 15.7 714 8701 0.08 2.20 0.00 0.000 6 0.197 0.047 3488 1705 2286 0 0 0 0 0 0

9021 0.76 185.1 326.1 14.5 744 9025 0.00 2.25 0.00 0.000 4 0.000 0.057 3498 293 2286 0 0 0 0 0 0

9077 0.76 185.1 317.4 15.7 748 9084 0.00 2.12 0.00 0.000 6 0.000 0.033 3498 1701 2285 0 0 0 0 0 0

9413 0.78 190.4 269.6 13.4 798 9420 0.00 2.22 0.00 0.000 4 0.000 0.056 3509 292 2285 0 0 0 0 0 0

9427 0.80 192.2 267.6 13.7 800 9434 0.00 2.12 0.00 0.000 6 0.000 0.031 3508 1704 2285 0 0 0 0 0 0

9771 0.82 200.7 221.6 13.1 861 9790 0.00 2.22 10.12 0.636 4 0.000 0.040 3509 3105 2249 0 0 0 0 0 0

9911 0.83 200.7 202.0 13.9 885 9918 0.00 2.20 0.00 0.000 6 0.000 0.044 3518 1703 2249 0 0 0 0 0 0

10257 0.86 210.3 154.9 13.0 946 10275 0.00 2.20 10.20 0.583 4 0.000 0.038 3519 3095 2209 0 0 0 0 0 0

10316 0.88 210.6 146.4 13.9 956 10323 0.00 2.17 0.00 0.000 6 0.000 0.044 3530 1702 2209 0 0 0 0 0 0

10662 1.02 297.5 114.6 6.0 1017 10743 0.15 2.22 71.68 0.601 4 0.069 0.035 3651 3110 1854 0 0 0 0 0 0

10853 1.00 297.5 84.7 18.8 1049 10862 0.30 2.15 0.00 0.000 6 0.142 0.043 3570 1724 1850 0 0 1 0 0 0

11201 1.04 310.4 37.0 12.7 1110 11213 0.00 0.00 10.90 0.481 6 0.000 0.000 3570 1723 1801 0 0 0 0 0 0

11551 1.42 460.8 3.7 0.3 1172 11606 0.32 0.00 51.15 0.487 2 0.044 0.000 3748 1720 1319 0 0 0 0 0 0

11608 end climb: NO_VERTICAL_VELOCITY

state 11608 begin surface

ID	168	HD_C	9.9999997e-06	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_MAX	3729	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	477	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	484	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1550	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	400	R_PORT_OVSHOOT	42	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	51	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	415	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3068	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	240	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	300	CAPUPLOAD	0	VBD_TIMEOUT	540	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	15	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	-5	T_GPS_CHARGE	-3880.5447	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	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	0	PITCH_MIN	143	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	190	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3252	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042824708
GLIDE_SLOPE	30	PITCH_DBAND	0.050000001	PRESSURE_YINT	-59.994087	SEABIRD_T_H	0.00062080647
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.3031862e-05
RHO	1.02625	P_OVSHOOT	0.029999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5001771e-06
MASS	51866	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8237314
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1028168
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0011486846
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017813468
HD_A	0.003	PITCH_ADJ_GAIN	0.0070000002	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	111110,171255,2121.787,12601.715,37,1.7,37,-2.9	TGT_NAME	PICKUP
_CALLS	1	TGT_LATLONG	2121.600,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111110,171844,2121.728,12601.720,14,1.7,14,-2.9	MHEAD_RNG_PITCHd_Wd	264.4,927,-27.7,-13.889
SPEED_LIMITS	0.241,0.322	D_GRID	1000

FREEZE	3.50,26.324,-1.886,0,1,0	_10V_AH	10.1,47.097
SM_CCo	11611,106.82,0.484,0,0,414,650.78	FG_AHR_24Vo	0.000
SM_GC	4.33,8.85,0.00,0.00,0.017,0.000,0.000,105,1545,410,-9.68,-0.11,652.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2115.63,12559.43,111110,131348	MEM	333960
TT8_MAMPS	0.026964	DATA_FILE_SIZE	67062,1181
HUMID	47.04	CAP_FILE_SIZE	137758,0
INTERNAL_PRESSURE	9.43396	CFSIZE	260165632,224194560
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	10	CURRENT	0.106,123.4,1
_24V_AH	23.3,67.059	GPS	111110,203937,2121.137,12600.440,35,0.9,36,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	219	112.80	SBE_CT	801	24	447.93
Roll_motor	110	65	166.77	AA4330	0	0	0.00
VBD_pump_during_apogee	468	1207	13167.68	WL_BB2F	0	0	0.00
VBD_pump_during_surface	106	484	1205.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	0	0.00	nil	0	0	0.00
Iridium_during_connect	41	0	0.00	nil	0	0	0.00
Iridium_during_xfer	137	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	24.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	0	0.00
TT8	2878	19	575.63
LPSleep	6318	2	139.75
TT8_Active	695	19	139.06
TT8_Sampling	2151	39	864.90
TT8_CF8	254	45	117.68
TT8_Kalman	0	0	0.00
Analog_circuits	1758	12	213.10
GPS_charging	0	0	0.00
Compass	1922	15	291.22
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	-0.74	-102.9	0.0	0.0	0	24	0.00	0.00	-7.28	0.000	2	0.000	0.000	104	1530	639	0	0	0	0	0	0
27	-0.84	-185.1	4.3	-0.0	1	172	9.52	2.22	-123.70	0.000	4	0.160	0.057	2972	2955	3824	0	0	0	0	0	0
312	-0.86	-185.1	41.3	-25.0	50	319	0.00	2.17	0.00	0.000	6	0.000	0.045	2972	1563	3825	0	0	0	0	0	0
656	-0.85	-185.1	151.7	-24.5	111	663	0.00	2.17	0.00	0.000	4	0.000	0.053	2972	166	3825	0	0	0	0	0	0
692	-0.84	-185.1	161.9	-27.8	117	701	0.08	2.08	0.00	0.000	6	0.184	0.037	2982	1537	3824	0	0	0	0	0	0
1037	-0.84	-185.1	236.5	-20.5	178	1044	0.00	2.17	0.00	0.000	4	0.000	0.043	2972	2959	3825	0	0	0	0	0	0
1086	-0.88	-185.1	245.5	-17.5	186	1092	0.00	2.17	0.00	0.000	6	0.000	0.044	2972	1552	3825	0	0	0	0	0	0
1431	-0.90	-185.1	311.7	-18.5	242	1435	0.00	2.17	0.00	0.000	4	0.000	0.053	2972	156	3825	0	0	0	0	0	0
1493	-0.92	-185.1	323.5	-18.2	247	1497	0.00	2.10	0.00	0.000	6	0.000	0.037	2962	1543	3825	0	0	0	0	0	0
1819	-0.94	-185.1	383.4	-18.6	277	1823	0.00	2.15	0.00	0.000	4	0.000	0.044	2952	2960	3824	0	0	0	0	0	0
1908	-0.99	-185.1	398.4	-15.4	284	1915	0.00	2.20	0.00	0.000	6	0.000	0.044	2952	1542	3824	0	0	0	0	0	0
2234	-1.00	-185.1	459.7	-18.3	315	2236	0.08	0.00	0.00	0.000	6	0.120	0.000	2839	1542	3822	0	0	0	0	0	0
2552	-0.95	-185.1	548.9	-27.4	345	2557	0.32	2.20	0.00	0.000	4	0.125	0.043	2932	2961	3820	0	0	0	0	0	0
2616	-0.99	-185.1	560.8	-15.4	350	2621	0.00	2.17	0.00	0.000	6	0.000	0.047	2932	1551	3820	0	0	0	0	0	0
2951	-1.01	-185.1	617.4	-16.5	376	2954	0.00	2.22	0.00	0.000	4	0.000	0.047	2922	2960	3817	0	0	0	0	0	0
2992	-1.04	-185.1	624.3	-15.4	378	2996	0.00	2.20	0.00	0.000	6	0.000	0.048	2922	1553	3816	0	0	0	0	0	0
3320	-1.06	-185.1	683.2	-18.8	394	3324	0.00	2.20	0.00	0.000	4	0.000	0.049	2911	2957	3813	0	0	0	0	0	0
3347	-1.08	-185.1	688.6	-18.5	395	3351	0.00	2.20	0.00	0.000	6	0.000	0.049	2912	1559	3813	0	0	0	0	0	0
3670	-1.09	-185.1	750.5	-19.6	411	3671	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1559	3810	0	0	0	0	0	0
3979	-1.10	-185.1	809.6	-18.9	426	3983	0.00	2.20	0.00	0.000	4	0.000	0.050	2900	2959	3806	0	0	0	0	0	0
4030	-1.13	-185.1	818.7	-17.2	428	4034	0.00	2.22	0.00	0.000	6	0.000	0.050	2901	1559	3805	0	0	0	0	0	0
4351	-1.13	-185.1	878.2	-18.5	444	4355	0.00	2.20	0.00	0.000	4	0.000	0.051	2891	2958	3802	0	0	0	0	0	0
4372	-1.15	-185.1	882.5	-18.6	445	4376	0.00	2.22	0.00	0.000	6	0.000	0.051	2891	1555	3801	0	0	0	0	0	0
4700	-1.15	-185.1	941.9	-17.9	461	4704	0.00	2.22	0.00	0.000	4	0.000	0.063	2891	166	3798	0	0	0	0	0	0
4731	-1.15	-185.1	948.3	-19.1	462	4739	0.00	2.17	0.00	0.000	6	0.000	0.043	2880	1553	3798	0	0	0	0	0	0
5025	end dive: TARGET_DEPTH_EXCEEDED
state	5025	begin apogee
5031	0.00	0.0	1003.8	18.7	477	5190	1.05	0.00	152.90	1.207	4	0.103	0.000	3247	1716	3068	0	0	0	0	0	0
5190	end apogee: CONTROL_FINISHED_OK
state	5190	begin climb
5193	0.84	185.1	1009.8	0.0	484	5361	0.73	2.28	161.20	1.130	4	0.028	0.048	3571	3099	2313	0	0	0	0	0	0
5501	0.79	185.1	951.4	26.9	498	5508	0.28	2.25	0.00	0.000	6	0.161	0.048	3504	1699	2304	0	0	0	0	0	0
5818	0.77	185.1	883.8	20.9	514	5822	0.00	2.25	0.00	0.000	4	0.000	0.060	3514	286	2299	0	0	0	0	0	0
5850	0.74	185.1	876.1	22.8	515	5858	0.10	2.15	0.00	0.000	6	0.172	0.033	3487	1705	2298	0	0	0	0	0	0
6168	0.73	185.1	812.5	20.2	531	6171	0.00	2.15	0.00	0.000	4	0.000	0.042	3487	3105	2296	0	0	0	0	0	0
6207	0.73	185.1	804.1	19.9	533	6211	0.00	2.22	0.00	0.000	6	0.000	0.050	3498	1701	2296	0	0	0	0	0	0
6535	0.72	185.1	737.3	20.2	549	6540	0.08	2.17	0.00	0.000	4	0.220	0.041	3480	3106	2293	0	0	0	0	0	0
6567	0.72	185.1	730.4	19.8	550	6574	0.00	2.25	0.00	0.000	6	0.000	0.049	3490	1707	2294	0	0	0	0	0	0
6884	0.72	185.1	672.4	17.9	566	6887	0.00	2.17	0.00	0.000	4	0.000	0.042	3490	3107	2292	0	0	0	0	0	0
6911	0.72	185.1	667.0	18.1	567	6916	0.08	2.20	0.00	0.000	6	0.197	0.050	3483	1709	2292	0	0	0	0	0	0
7232	0.72	185.1	612.7	16.7	583	7233	0.00	0.00	0.00	0.000	6	0.000	0.000	3483	1709	2290	0	0	0	0	0	0
7548	0.72	185.1	559.8	16.2	609	7552	0.00	2.15	0.00	0.000	4	0.000	0.042	3483	3103	2289	0	0	0	0	0	0
7595	0.73	185.1	551.6	18.5	613	7599	0.00	2.20	0.00	0.000	6	0.000	0.048	3492	1710	2290	0	0	0	0	0	0
7921	0.73	185.1	494.9	16.8	643	7925	0.00	2.15	0.00	0.000	4	0.000	0.042	3492	3105	2288	0	0	0	0	0	0
7959	0.73	185.1	488.0	16.7	646	7967	0.05	2.22	0.00	0.000	6	0.155	0.049	3485	1712	2288	0	0	0	0	0	0
8286	0.73	185.1	438.1	15.2	677	8290	0.00	2.25	0.00	0.000	4	0.000	0.058	3495	290	2287	0	0	0	0	0	0
8329	0.73	185.1	430.9	15.4	680	8336	0.00	2.17	0.00	0.000	6	0.000	0.034	3495	1704	2287	0	0	0	0	0	0
8654	0.73	185.1	380.6	14.6	711	8658	0.00	2.15	0.00	0.000	4	0.000	0.042	3495	3109	2286	0	0	0	0	0	0
8696	0.74	185.1	374.5	15.7	714	8701	0.08	2.20	0.00	0.000	6	0.197	0.047	3488	1705	2286	0	0	0	0	0	0
9021	0.76	185.1	326.1	14.5	744	9025	0.00	2.25	0.00	0.000	4	0.000	0.057	3498	293	2286	0	0	0	0	0	0
9077	0.76	185.1	317.4	15.7	748	9084	0.00	2.12	0.00	0.000	6	0.000	0.033	3498	1701	2285	0	0	0	0	0	0
9413	0.78	190.4	269.6	13.4	798	9420	0.00	2.22	0.00	0.000	4	0.000	0.056	3509	292	2285	0	0	0	0	0	0
9427	0.80	192.2	267.6	13.7	800	9434	0.00	2.12	0.00	0.000	6	0.000	0.031	3508	1704	2285	0	0	0	0	0	0
9771	0.82	200.7	221.6	13.1	861	9790	0.00	2.22	10.12	0.636	4	0.000	0.040	3509	3105	2249	0	0	0	0	0	0
9911	0.83	200.7	202.0	13.9	885	9918	0.00	2.20	0.00	0.000	6	0.000	0.044	3518	1703	2249	0	0	0	0	0	0
10257	0.86	210.3	154.9	13.0	946	10275	0.00	2.20	10.20	0.583	4	0.000	0.038	3519	3095	2209	0	0	0	0	0	0
10316	0.88	210.6	146.4	13.9	956	10323	0.00	2.17	0.00	0.000	6	0.000	0.044	3530	1702	2209	0	0	0	0	0	0
10662	1.02	297.5	114.6	6.0	1017	10743	0.15	2.22	71.68	0.601	4	0.069	0.035	3651	3110	1854	0	0	0	0	0	0
10853	1.00	297.5	84.7	18.8	1049	10862	0.30	2.15	0.00	0.000	6	0.142	0.043	3570	1724	1850	0	0	1	0	0	0
11201	1.04	310.4	37.0	12.7	1110	11213	0.00	0.00	10.90	0.481	6	0.000	0.000	3570	1723	1801	0	0	0	0	0	0
11551	1.42	460.8	3.7	0.3	1172	11606	0.32	0.00	51.15	0.487	2	0.044	0.000	3748	1720	1319	0	0	0	0	0	0
11608	end climb: NO_VERTICAL_VELOCITY
state	11608	begin surface