Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 918 * 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 918 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 48 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 -20693.695 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 -20693.695

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 48 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 29 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 918 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 300111,012107,-7608.871,17511.725,55,1.2,55,123.5 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 0.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300111,012837,-7608.887,17511.859,13,1.9,30,123.5 MHEAD_RNG_PITCHd_Wd 180.4,8929,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 434

Post-dive calculations and measurements:

FREEZE 0.06,0.406,-1.889,2,1,0 _24V_AH 21.4,97.055

FINISH 0.1,1.027616 _10V_AH 9.7,40.259

SM_CCo 7854,0.00,0.000,0,0,1934,251.67 FG_AHR_24Vo 0.000

SM_GC 1.05,7.50,0.00,0.00,0.038,0.000,0.000,180,2803,1934,-8.09,0.65,251.67 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7528.04,17512.69,290111,232343 MEM 258188

TT8_MAMPS 0.026964 DATA_FILE_SIZE 56994,848

HUMID 53.62 CAP_FILE_SIZE 105860,0

INTERNAL_PRESSURE 8.7601 CFSIZE 260165632,209453056

TCM_TEMP 14.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 CURRENT 0.120,111.6,1

ALTIM_TOP_PING 20.0,20.3 GPS 300111,034125,-7608.388,17510.094,43,1.6,45,123.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 77.47 SBE_CT 594 24 305.30

Roll_motor 54 88 103.73 AA4330 1043 33 737.22

VBD_pump_during_apogee 373 1015 8122.18 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 61.22 nil 0 0 0.00

Iridium_during_connect 43 160 148.02 nil 0 0 0.00

Iridium_during_xfer 189 223 905.39 nil 0 0 0.00

Transponder_ping 1 420 11.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.19

TT8 2113 19 405.88

LPSleep 3661 2 77.78

TT8_Active 464 19 89.13

TT8_Sampling 1694 39 654.16

TT8_CF8 370 45 164.42

TT8_Kalman 0 0 0.00

Analog_circuits 1250 12 145.53

GPS_charging 0 0 0.00

Compass 1365 15 198.63

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

17 -0.71 -170.3 0.0 0.0 0 90 0.00 0.00 -70.75 0.000 2 0.000 0.000 172 2745 3388 0 0 0 0 0 0

94 -0.71 -170.3 3.1 -4.4 12 116 9.07 2.25 -5.85 0.000 4 0.199 0.045 2563 1373 3659 0 0 1 0 0 0

301 -0.71 -170.3 38.1 -13.5 48 308 0.00 2.30 0.00 0.000 6 0.000 0.042 2554 2788 3663 0 0 0 0 0 0

445 -0.71 -170.3 57.9 -14.0 73 452 0.00 1.62 0.00 0.000 4 0.000 0.048 2546 3765 3663 0 0 0 0 0 0

509 -0.71 -170.3 67.9 -13.9 84 516 0.00 1.55 0.00 0.000 6 0.000 0.028 2546 2788 3663 0 0 0 0 0 0

651 -0.71 -170.3 87.8 -14.0 109 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2788 3663 0 0 0 0 0 0

791 -0.71 -170.3 107.3 -13.4 129 792 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2788 3663 0 0 0 0 0 0

918 -0.71 -170.3 124.5 -13.2 141 919 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2788 3664 0 0 0 0 0 0

1046 -0.71 -170.3 140.7 -13.0 153 1047 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2788 3664 0 0 0 0 0 0

1173 -0.71 -170.3 156.9 -12.6 165 1177 0.00 1.62 0.00 0.000 4 0.000 0.047 2539 3786 3664 0 0 0 0 0 0

1223 -0.71 -170.3 163.9 -13.2 169 1230 0.08 1.58 0.00 0.000 6 0.131 0.028 2566 2791 3664 0 0 0 0 0 0

1359 -0.71 -170.3 179.3 -11.3 182 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2791 3664 0 0 0 0 0 0

1485 -0.71 -170.3 194.2 -11.5 194 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2791 3664 0 0 0 0 0 0

1614 -0.71 -170.3 209.5 -11.9 206 1618 0.00 1.62 0.00 0.000 4 0.000 0.047 2559 3789 3664 0 0 0 0 0 0

1665 -0.71 -170.3 216.2 -12.7 210 1673 0.00 1.55 0.00 0.000 6 0.000 0.027 2559 2805 3664 0 0 0 0 0 0

1800 -0.71 -170.3 232.7 -12.2 223 1802 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2806 3664 0 0 0 0 0 0

1928 -0.71 -170.3 248.6 -12.6 235 1929 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2806 3664 0 0 0 0 0 0

2056 -0.71 -170.3 264.5 -12.3 247 2057 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2806 3664 0 0 0 0 0 0

2246 -0.71 -170.3 287.7 -12.0 265 2247 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2805 3664 0 0 0 0 0 0

2439 -0.71 -170.3 310.8 -12.2 283 2442 0.00 1.60 0.00 0.000 4 0.000 0.048 2551 3763 3663 0 0 0 0 0 0

2479 -0.71 -170.3 316.2 -13.0 286 2486 0.00 1.50 0.00 0.000 6 0.000 0.028 2551 2814 3663 0 0 0 0 0 0

2677 -0.71 -170.3 340.6 -12.1 305 2678 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2813 3663 0 0 0 0 0 0

2871 -0.71 -170.3 363.4 -11.8 323 2877 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2814 3664 0 0 0 0 0 0

3070 -0.71 -170.3 387.5 -11.7 342 3071 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2814 3663 0 0 0 0 0 0

3262 -0.71 -170.3 410.7 -12.1 360 3266 0.00 1.60 0.00 0.000 4 0.000 0.049 2544 3766 3664 0 0 0 0 0 0

3302 -0.71 -170.3 415.9 -12.6 363 3308 0.00 1.52 0.00 0.000 6 0.000 0.028 2544 2808 3663 0 0 0 0 0 0

3444 end dive: TARGET_DEPTH_EXCEEDED

state 3444 begin apogee

3452 -0.16 0.0 434.3 12.7 377 3600 0.60 0.00 141.80 1.015 4 0.116 0.000 2745 2691 2960 0 0 0 0 0 0

3600 end apogee: CONTROL_FINISHED_OK

state 3600 begin climb

3603 0.71 170.3 440.8 0.0 390 3768 0.85 2.35 155.43 0.964 4 0.070 0.032 3032 1311 2265 0 0 0 0 0 0

3935 0.74 192.3 420.1 9.1 419 3962 0.00 2.40 21.15 0.916 6 0.000 0.041 3032 2703 2174 0 0 0 0 0 0

4156 0.74 192.3 397.8 10.4 439 4160 0.00 2.28 0.00 0.000 4 0.000 0.034 3042 1313 2174 0 0 0 0 0 0

4342 0.74 192.3 379.2 10.4 455 4346 0.00 2.25 0.00 0.000 6 0.000 0.041 3042 2703 2172 0 0 0 0 0 0

4543 0.74 192.3 358.0 10.6 473 4547 0.00 1.70 0.00 0.000 4 0.000 0.047 3042 3761 2171 0 0 0 0 0 0

4604 0.74 192.3 350.1 12.6 478 4612 0.00 1.67 0.00 0.000 6 0.000 0.029 3050 2717 2170 0 0 0 0 0 0

4804 0.74 192.3 327.8 11.3 497 4805 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2716 2170 0 0 0 0 0 0

4993 0.74 192.3 306.3 11.1 515 4994 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2717 2169 0 0 0 0 0 0

5184 0.74 192.3 285.3 11.0 533 5188 0.00 1.70 0.00 0.000 4 0.000 0.046 3050 3766 2169 0 0 0 0 0 0

5246 0.74 192.3 277.2 13.2 538 5254 0.00 1.67 0.00 0.000 6 0.000 0.028 3058 2716 2169 0 0 0 0 0 0

5445 0.74 192.3 253.9 11.5 557 5446 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2716 2169 0 0 0 0 0 0

5636 0.74 192.3 231.4 11.8 575 5638 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2716 2168 0 0 0 0 0 0

5765 0.74 192.3 216.6 11.3 587 5766 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2715 2169 0 0 0 0 0 0

5891 0.74 192.3 201.9 11.5 599 5894 0.00 1.70 0.00 0.000 4 0.000 0.047 3058 3766 2168 0 0 0 0 0 0

5951 0.74 192.3 193.6 13.6 604 5958 0.00 1.67 0.00 0.000 6 0.000 0.028 3066 2714 2168 0 0 0 0 0 0

6087 0.74 192.3 177.4 11.9 617 6088 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2715 2168 0 0 0 0 0 0

6213 0.74 192.3 162.6 11.7 629 6214 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2715 2168 0 0 0 0 0 0

6340 0.74 192.3 147.7 11.6 641 6344 0.00 1.70 0.00 0.000 4 0.000 0.047 3066 3764 2168 0 0 0 0 0 0

6402 0.74 192.3 139.8 13.4 646 6411 0.10 1.65 0.00 0.000 6 0.132 0.028 3030 2731 2167 0 0 0 0 0 0

6538 0.77 214.9 127.2 9.1 659 6560 0.00 0.00 20.02 0.831 6 0.000 0.000 3029 2731 2083 0 0 0 0 0 0

6685 0.79 235.4 113.8 9.2 673 6707 0.00 0.00 20.12 0.809 6 0.000 0.000 3029 2731 2000 0 0 0 0 0 0

6833 0.81 250.9 100.1 9.4 687 6853 0.00 0.00 15.35 0.786 6 0.000 0.000 3029 2731 1937 0 0 0 0 0 0

6990 0.81 250.9 84.6 10.5 714 6997 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2731 1937 0 0 0 0 0 0

7134 0.81 250.9 69.6 10.4 739 7141 0.00 1.73 0.00 0.000 4 0.000 0.048 3029 3751 1937 0 0 0 0 0 0

7176 0.81 250.9 64.9 11.5 746 7184 0.00 1.62 0.00 0.000 6 0.000 0.030 3035 2738 1937 0 0 1 0 0 0

7322 0.81 250.9 50.6 10.1 771 7329 0.00 2.30 0.00 0.000 4 0.000 0.034 3045 1296 1937 0 0 0 0 0 0

7365 0.81 250.9 45.8 10.4 778 7373 0.00 2.33 0.00 0.000 6 0.000 0.042 3046 2728 1937 0 0 0 0 0 0

7512 0.81 250.9 30.1 11.0 803 7519 0.00 1.70 0.00 0.000 4 0.000 0.048 3046 3751 1936 0 0 0 0 0 0

7549 0.81 250.9 25.1 12.7 809 7556 0.00 1.65 0.00 0.000 6 0.000 0.029 3053 2718 1937 0 0 1 0 0 0

7695 0.81 250.9 8.1 11.4 834 7702 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2718 1937 0 0 0 0 0 0

7744 end climb: SURFACE_DEPTH_REACHED

state 7744 begin surface coast

7774 end surface coast: CONTROL_FINISHED_OK

state 7774 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	918	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	48	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	-20693.695	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	300111,012107,-7608.871,17511.725,55,1.2,55,123.5	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	0.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300111,012837,-7608.887,17511.859,13,1.9,30,123.5	MHEAD_RNG_PITCHd_Wd	180.4,8929,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	434

FREEZE	0.06,0.406,-1.889,2,1,0	_24V_AH	21.4,97.055
FINISH	0.1,1.027616	_10V_AH	9.7,40.259
SM_CCo	7854,0.00,0.000,0,0,1934,251.67	FG_AHR_24Vo	0.000
SM_GC	1.05,7.50,0.00,0.00,0.038,0.000,0.000,180,2803,1934,-8.09,0.65,251.67	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7528.04,17512.69,290111,232343	MEM	258188
TT8_MAMPS	0.026964	DATA_FILE_SIZE	56994,848
HUMID	53.62	CAP_FILE_SIZE	105860,0
INTERNAL_PRESSURE	8.7601	CFSIZE	260165632,209453056
TCM_TEMP	14.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.120,111.6,1
ALTIM_TOP_PING	20.0,20.3	GPS	300111,034125,-7608.388,17510.094,43,1.6,45,123.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	77.47	SBE_CT	594	24	305.30
Roll_motor	54	88	103.73	AA4330	1043	33	737.22
VBD_pump_during_apogee	373	1015	8122.18	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	61.22	nil	0	0	0.00
Iridium_during_connect	43	160	148.02	nil	0	0	0.00
Iridium_during_xfer	189	223	905.39	nil	0	0	0.00
Transponder_ping	1	420	11.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.19
TT8	2113	19	405.88
LPSleep	3661	2	77.78
TT8_Active	464	19	89.13
TT8_Sampling	1694	39	654.16
TT8_CF8	370	45	164.42
TT8_Kalman	0	0	0.00
Analog_circuits	1250	12	145.53
GPS_charging	0	0	0.00
Compass	1365	15	198.63
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
17	-0.71	-170.3	0.0	0.0	0	90	0.00	0.00	-70.75	0.000	2	0.000	0.000	172	2745	3388	0	0	0	0	0	0
94	-0.71	-170.3	3.1	-4.4	12	116	9.07	2.25	-5.85	0.000	4	0.199	0.045	2563	1373	3659	0	0	1	0	0	0
301	-0.71	-170.3	38.1	-13.5	48	308	0.00	2.30	0.00	0.000	6	0.000	0.042	2554	2788	3663	0	0	0	0	0	0
445	-0.71	-170.3	57.9	-14.0	73	452	0.00	1.62	0.00	0.000	4	0.000	0.048	2546	3765	3663	0	0	0	0	0	0
509	-0.71	-170.3	67.9	-13.9	84	516	0.00	1.55	0.00	0.000	6	0.000	0.028	2546	2788	3663	0	0	0	0	0	0
651	-0.71	-170.3	87.8	-14.0	109	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2788	3663	0	0	0	0	0	0
791	-0.71	-170.3	107.3	-13.4	129	792	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2788	3663	0	0	0	0	0	0
918	-0.71	-170.3	124.5	-13.2	141	919	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2788	3664	0	0	0	0	0	0
1046	-0.71	-170.3	140.7	-13.0	153	1047	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2788	3664	0	0	0	0	0	0
1173	-0.71	-170.3	156.9	-12.6	165	1177	0.00	1.62	0.00	0.000	4	0.000	0.047	2539	3786	3664	0	0	0	0	0	0
1223	-0.71	-170.3	163.9	-13.2	169	1230	0.08	1.58	0.00	0.000	6	0.131	0.028	2566	2791	3664	0	0	0	0	0	0
1359	-0.71	-170.3	179.3	-11.3	182	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2791	3664	0	0	0	0	0	0
1485	-0.71	-170.3	194.2	-11.5	194	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2791	3664	0	0	0	0	0	0
1614	-0.71	-170.3	209.5	-11.9	206	1618	0.00	1.62	0.00	0.000	4	0.000	0.047	2559	3789	3664	0	0	0	0	0	0
1665	-0.71	-170.3	216.2	-12.7	210	1673	0.00	1.55	0.00	0.000	6	0.000	0.027	2559	2805	3664	0	0	0	0	0	0
1800	-0.71	-170.3	232.7	-12.2	223	1802	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2806	3664	0	0	0	0	0	0
1928	-0.71	-170.3	248.6	-12.6	235	1929	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2806	3664	0	0	0	0	0	0
2056	-0.71	-170.3	264.5	-12.3	247	2057	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2806	3664	0	0	0	0	0	0
2246	-0.71	-170.3	287.7	-12.0	265	2247	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2805	3664	0	0	0	0	0	0
2439	-0.71	-170.3	310.8	-12.2	283	2442	0.00	1.60	0.00	0.000	4	0.000	0.048	2551	3763	3663	0	0	0	0	0	0
2479	-0.71	-170.3	316.2	-13.0	286	2486	0.00	1.50	0.00	0.000	6	0.000	0.028	2551	2814	3663	0	0	0	0	0	0
2677	-0.71	-170.3	340.6	-12.1	305	2678	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2813	3663	0	0	0	0	0	0
2871	-0.71	-170.3	363.4	-11.8	323	2877	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2814	3664	0	0	0	0	0	0
3070	-0.71	-170.3	387.5	-11.7	342	3071	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2814	3663	0	0	0	0	0	0
3262	-0.71	-170.3	410.7	-12.1	360	3266	0.00	1.60	0.00	0.000	4	0.000	0.049	2544	3766	3664	0	0	0	0	0	0
3302	-0.71	-170.3	415.9	-12.6	363	3308	0.00	1.52	0.00	0.000	6	0.000	0.028	2544	2808	3663	0	0	0	0	0	0
3444	end dive: TARGET_DEPTH_EXCEEDED
state	3444	begin apogee
3452	-0.16	0.0	434.3	12.7	377	3600	0.60	0.00	141.80	1.015	4	0.116	0.000	2745	2691	2960	0	0	0	0	0	0
3600	end apogee: CONTROL_FINISHED_OK
state	3600	begin climb
3603	0.71	170.3	440.8	0.0	390	3768	0.85	2.35	155.43	0.964	4	0.070	0.032	3032	1311	2265	0	0	0	0	0	0
3935	0.74	192.3	420.1	9.1	419	3962	0.00	2.40	21.15	0.916	6	0.000	0.041	3032	2703	2174	0	0	0	0	0	0
4156	0.74	192.3	397.8	10.4	439	4160	0.00	2.28	0.00	0.000	4	0.000	0.034	3042	1313	2174	0	0	0	0	0	0
4342	0.74	192.3	379.2	10.4	455	4346	0.00	2.25	0.00	0.000	6	0.000	0.041	3042	2703	2172	0	0	0	0	0	0
4543	0.74	192.3	358.0	10.6	473	4547	0.00	1.70	0.00	0.000	4	0.000	0.047	3042	3761	2171	0	0	0	0	0	0
4604	0.74	192.3	350.1	12.6	478	4612	0.00	1.67	0.00	0.000	6	0.000	0.029	3050	2717	2170	0	0	0	0	0	0
4804	0.74	192.3	327.8	11.3	497	4805	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2716	2170	0	0	0	0	0	0
4993	0.74	192.3	306.3	11.1	515	4994	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2717	2169	0	0	0	0	0	0
5184	0.74	192.3	285.3	11.0	533	5188	0.00	1.70	0.00	0.000	4	0.000	0.046	3050	3766	2169	0	0	0	0	0	0
5246	0.74	192.3	277.2	13.2	538	5254	0.00	1.67	0.00	0.000	6	0.000	0.028	3058	2716	2169	0	0	0	0	0	0
5445	0.74	192.3	253.9	11.5	557	5446	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2716	2169	0	0	0	0	0	0
5636	0.74	192.3	231.4	11.8	575	5638	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2716	2168	0	0	0	0	0	0
5765	0.74	192.3	216.6	11.3	587	5766	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2715	2169	0	0	0	0	0	0
5891	0.74	192.3	201.9	11.5	599	5894	0.00	1.70	0.00	0.000	4	0.000	0.047	3058	3766	2168	0	0	0	0	0	0
5951	0.74	192.3	193.6	13.6	604	5958	0.00	1.67	0.00	0.000	6	0.000	0.028	3066	2714	2168	0	0	0	0	0	0
6087	0.74	192.3	177.4	11.9	617	6088	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2715	2168	0	0	0	0	0	0
6213	0.74	192.3	162.6	11.7	629	6214	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2715	2168	0	0	0	0	0	0
6340	0.74	192.3	147.7	11.6	641	6344	0.00	1.70	0.00	0.000	4	0.000	0.047	3066	3764	2168	0	0	0	0	0	0
6402	0.74	192.3	139.8	13.4	646	6411	0.10	1.65	0.00	0.000	6	0.132	0.028	3030	2731	2167	0	0	0	0	0	0
6538	0.77	214.9	127.2	9.1	659	6560	0.00	0.00	20.02	0.831	6	0.000	0.000	3029	2731	2083	0	0	0	0	0	0
6685	0.79	235.4	113.8	9.2	673	6707	0.00	0.00	20.12	0.809	6	0.000	0.000	3029	2731	2000	0	0	0	0	0	0
6833	0.81	250.9	100.1	9.4	687	6853	0.00	0.00	15.35	0.786	6	0.000	0.000	3029	2731	1937	0	0	0	0	0	0
6990	0.81	250.9	84.6	10.5	714	6997	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2731	1937	0	0	0	0	0	0
7134	0.81	250.9	69.6	10.4	739	7141	0.00	1.73	0.00	0.000	4	0.000	0.048	3029	3751	1937	0	0	0	0	0	0
7176	0.81	250.9	64.9	11.5	746	7184	0.00	1.62	0.00	0.000	6	0.000	0.030	3035	2738	1937	0	0	1	0	0	0
7322	0.81	250.9	50.6	10.1	771	7329	0.00	2.30	0.00	0.000	4	0.000	0.034	3045	1296	1937	0	0	0	0	0	0
7365	0.81	250.9	45.8	10.4	778	7373	0.00	2.33	0.00	0.000	6	0.000	0.042	3046	2728	1937	0	0	0	0	0	0
7512	0.81	250.9	30.1	11.0	803	7519	0.00	1.70	0.00	0.000	4	0.000	0.048	3046	3751	1936	0	0	0	0	0	0
7549	0.81	250.9	25.1	12.7	809	7556	0.00	1.65	0.00	0.000	6	0.000	0.029	3053	2718	1937	0	0	1	0	0	0
7695	0.81	250.9	8.1	11.4	834	7702	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2718	1937	0	0	0	0	0	0
7744	end climb: SURFACE_DEPTH_REACHED
state	7744	begin surface coast
7774	end surface coast: CONTROL_FINISHED_OK
state	7774	begin surface