Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 286 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 286 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 289 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 790 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1000 ALTIM_FREQUENCY 13

D_FLARE 5 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 47 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 86 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 490 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3029 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 300 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 375 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 4 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 -54483.055 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

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 -5 PITCH_MIN 134 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 235 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2822 PHONE_SUPPLY 2 SEABIRD_T_G 0.004337667

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -16.491346 SEABIRD_T_H 0.00063136261

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_I 2.3680945e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4321864e-06

MASS 51890 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8870621

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1051886

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001683808

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00020742195

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 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 134 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 -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -16.491346 T_DIVE 300

CALL_TRIES 5 HD_A 0.0038360001 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -54483.055

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 375

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 167 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

C_PITCH 2822 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 1000 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 790 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -5

C_VBD 3029 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.24529999

DEVICE1 2 MASS 51890 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 53 MAX_BUOY 235 R_PORT_OVSHOOT 47 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 86 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8870621 VBD_MIN 490

DEVICE5 -1 MISSION 6 SEABIRD_C_H 1.1051886 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.001683808 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 286 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 289 SEABIRD_T_G 0.004337667 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00063136261 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3680945e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.4321864e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 021110,144137,2123.091,12601.223,40,1.1,41,-2.9 TGT_NAME PICKUP_NORTH

_CALLS 2 TGT_LATLONG 2124.580,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021110,145202,2123.068,12601.254,13,1.3,13,-2.9 MHEAD_RNG_PITCHd_Wd 353.3,2801,-28.0,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.022218 _10V_AH 10.2,49.209

SM_CCo 13394,93.88,0.541,1,0,1397,400.08 FG_AHR_24Vo 0.000

SM_GC 1.41,0.00,0.00,93.88,0.000,0.000,0.541,112,760,1397,-8.47,-0.85,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12602.66,021110,141445 MEM 333768

TT8_MAMPS 0.028462 DATA_FILE_SIZE 90226,1544

HUMID 38.02 CAP_FILE_SIZE 156995,0

INTERNAL_PRESSURE 8.92612 CFSIZE 260165632,147996672

TCM_TEMP 28.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.038, 96.1,1

_24V_AH 23.1,53.342 GPS 021110,183837,2124.188,12601.033,38,1.1,38,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 217 99.24 SBE_CT 1054 24 584.50

Roll_motor 74 48 84.63 AA3830 1383 33 1054.45

VBD_pump_during_apogee 301 1415 9867.35 WL_BB2F 1930 105 4683.42

VBD_pump_during_surface 93 540 1172.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 0 0.00 nil 0 0 0.00

Iridium_during_connect 81 0 0.00 nil 0 0 0.00

Iridium_during_xfer 219 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 0 0.00

TT8 3836 19 774.84

LPSleep 5343 2 119.36

TT8_Active 504 19 101.85

TT8_Sampling 3932 39 1596.63

TT8_CF8 483 45 225.76

TT8_Kalman 0 0 0.00

Analog_circuits 1867 12 228.63

GPS_charging 0 0 0.00

Compass 3589 15 549.19

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.87 -73.8 0.0 0.0 0 81 0.00 0.00 -61.22 0.000 2 0.000 0.000 112 779 3216 0 0 0 0 0 0

85 -0.88 -81.9 5.1 -10.3 8 102 9.38 2.08 -2.62 0.000 4 0.217 0.030 2522 2218 3368 0 0 0 0 0 0

194 -0.88 -81.9 42.4 -25.6 27 202 0.00 2.17 0.00 0.000 6 0.000 0.034 2520 797 3370 0 0 0 0 0 0

520 -0.88 -81.9 131.3 -21.2 88 527 0.00 0.88 0.00 0.000 4 0.000 0.041 2521 190 3371 0 0 0 0 0 0

769 -0.88 -81.9 185.6 -19.8 134 777 0.00 0.77 0.00 0.000 6 0.000 0.020 2516 861 3372 0 0 0 0 0 0

1106 -0.88 -81.9 246.4 -17.8 195 1113 0.00 1.85 0.00 0.000 4 0.000 0.016 2507 2217 3373 0 0 0 0 0 0

1349 -0.88 -81.9 281.0 -14.2 239 1357 0.12 2.17 0.00 0.000 6 0.178 0.033 2537 742 3373 0 0 0 0 0 0

1683 -0.88 -81.9 326.9 -14.2 300 1691 0.00 0.77 0.00 0.000 4 0.000 0.043 2537 200 3373 0 0 0 0 0 0

1936 -0.88 -81.9 364.5 -14.0 346 1944 0.00 0.70 0.00 0.000 6 0.000 0.021 2534 811 3373 0 0 0 0 0 0

2270 -0.88 -81.9 407.6 -12.6 407 2277 0.00 0.90 0.00 0.000 4 0.000 0.041 2535 197 3372 0 0 0 0 0 0

2522 -0.88 -81.9 442.2 -13.4 453 2530 0.00 0.60 0.00 0.000 6 0.000 0.023 2532 729 3371 0 0 0 0 0 0

2858 -0.88 -81.9 483.5 -12.2 514 2865 0.00 1.98 0.00 0.000 4 0.000 0.017 2525 2136 3369 0 0 0 0 0 0

2879 -0.88 -81.9 486.2 -11.9 517 2887 0.00 2.08 0.00 0.000 6 0.000 0.034 2524 737 3368 0 0 0 0 0 0

3207 -0.88 -81.9 525.5 -11.6 558 3208 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 737 3367 0 0 0 0 0 0

3529 -0.88 -81.9 562.5 -11.8 588 3533 0.00 0.77 0.00 0.000 4 0.000 0.045 2525 202 3365 0 0 0 0 0 0

3789 -0.88 -81.9 594.9 -11.4 611 3792 0.00 0.60 0.00 0.000 6 0.000 0.024 2521 709 3363 0 0 0 0 0 0

4122 -0.89 -90.7 630.8 -10.2 629 4125 0.00 0.75 0.00 0.000 4 0.000 0.045 2521 200 3360 0 0 0 0 0 0

4381 -0.89 -90.7 661.4 -11.7 640 4385 0.00 0.57 0.00 0.000 6 0.000 0.024 2520 679 3358 0 0 0 0 0 0

4705 -0.89 -90.7 697.5 -11.1 656 4708 0.00 0.70 0.00 0.000 4 0.000 0.047 2520 206 3355 0 0 0 0 0 0

4751 -0.89 -90.7 703.0 -11.6 658 4755 0.00 0.57 0.00 0.000 6 0.000 0.025 2520 680 3355 0 0 0 0 0 0

5086 -0.89 -92.5 739.4 -10.9 674 5090 0.00 0.73 0.00 0.000 4 0.000 0.047 2520 193 3352 0 0 0 0 0 0

5252 -0.89 -92.5 759.2 -12.4 681 5255 0.00 0.57 0.00 0.000 6 0.000 0.026 2520 659 3351 0 0 0 0 0 0

5581 -0.91 -109.5 793.4 -9.4 697 5585 0.00 2.08 0.00 0.000 4 0.000 0.019 2520 2124 3348 0 0 0 0 0 0

5630 -0.95 -142.0 797.9 -7.8 699 5634 0.00 2.12 0.00 0.000 6 0.000 0.037 2520 716 3348 0 0 0 0 0 0

5947 -0.97 -159.7 827.0 -9.3 714 5951 0.00 0.75 0.00 0.000 4 0.000 0.048 2519 206 3345 0 0 0 0 0 0

6114 -0.98 -166.6 843.6 -10.4 721 6118 0.00 0.55 0.00 0.000 6 0.000 0.027 2519 651 3345 0 0 0 0 0 0

6442 -1.00 -178.4 875.0 -9.9 737 6443 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 651 3343 0 0 0 0 0 0

6753 -1.02 -197.3 905.0 -9.2 752 6756 0.00 0.68 0.00 0.000 4 0.000 0.049 2519 201 3341 0 0 0 0 0 0

6813 -1.04 -216.2 911.1 -9.2 754 6820 0.00 0.55 0.00 0.000 6 0.000 0.027 2520 638 3341 0 0 0 0 0 0

7132 -1.06 -228.7 938.9 -8.6 770 7136 0.12 2.15 0.00 0.000 4 0.096 0.021 2467 2115 3338 0 0 0 0 0 0

7220 -1.06 -228.7 947.8 -9.7 774 7224 0.00 2.15 0.00 0.000 6 0.000 0.038 2467 702 3337 0 0 0 0 0 0

7543 -1.06 -228.7 982.8 -11.0 790 7547 0.00 0.75 0.00 0.000 4 0.000 0.049 2465 196 3336 0 0 0 0 0 0

7691 end dive: TARGET_DEPTH_EXCEEDED

state 7691 begin apogee

7698 -0.14 0.0 1000.1 11.7 796 7766 1.02 0.00 63.78 1.415 4 0.165 0.000 2766 973 3029 0 0 0 0 0 0

7767 end apogee: CONTROL_FINISHED_OK

state 7767 begin climb

7771 1.06 228.7 1001.8 0.0 799 7976 1.10 2.12 194.55 1.365 4 0.055 0.021 3171 2390 2095 0 0 0 0 0 0

8140 1.06 228.7 932.9 24.3 816 8144 0.00 2.15 0.00 0.000 6 0.000 0.035 3181 1010 2086 0 0 0 0 0 0

8467 1.06 228.7 849.6 24.7 832 8470 0.00 1.25 0.00 0.000 4 0.000 0.044 3188 192 2084 0 0 0 0 0 0

8646 1.06 228.7 802.8 25.4 840 8650 0.00 1.12 0.00 0.000 6 0.000 0.026 3188 994 2083 0 0 0 0 0 0

8979 1.06 228.7 718.9 25.6 856 8983 0.00 2.03 0.00 0.000 4 0.000 0.024 3188 2384 2081 0 0 0 0 0 0

9219 1.06 228.7 662.9 22.9 866 9227 0.12 2.05 0.00 0.000 6 0.210 0.034 3167 1037 2080 0 0 0 0 0 0

9538 1.06 228.7 590.6 23.1 883 9541 0.00 1.27 0.00 0.000 4 0.000 0.045 3173 192 2079 0 0 0 0 0 0

9561 1.06 228.7 584.7 23.7 885 9565 0.00 1.20 0.00 0.000 6 0.000 0.024 3173 1054 2079 0 0 0 0 0 0

9892 1.06 228.7 509.0 22.8 916 9896 0.00 1.95 0.00 0.000 4 0.000 0.025 3173 2392 2078 0 0 0 0 0 0

9921 1.06 228.7 502.8 21.8 918 9927 0.00 2.05 0.00 0.000 6 0.000 0.035 3182 1033 2077 0 0 0 0 0 0

10252 1.06 228.7 433.2 20.4 978 10260 0.00 2.00 0.00 0.000 4 0.000 0.024 3182 2391 2077 0 0 0 0 0 0

10316 1.06 228.7 420.5 19.7 989 10323 0.00 2.05 0.00 0.000 6 0.000 0.036 3190 1045 2077 0 0 0 0 0 0

10647 1.06 228.7 349.3 22.3 1050 10655 0.00 2.00 0.00 0.000 4 0.000 0.024 3190 2395 2076 0 0 0 0 0 0

10669 1.06 228.7 344.8 22.1 1053 10677 0.15 2.03 0.00 0.000 6 0.201 0.034 3162 1044 2076 0 0 0 0 0 0

11006 1.06 228.7 283.5 18.2 1114 11014 0.00 1.30 0.00 0.000 4 0.000 0.044 3168 183 2076 0 0 0 0 0 0

11121 1.06 228.7 263.5 15.6 1134 11128 0.00 1.20 0.00 0.000 6 0.000 0.022 3168 1066 2076 0 0 0 0 0 0

11457 1.06 228.7 213.8 15.2 1195 11463 0.00 1.90 0.00 0.000 4 0.000 0.022 3168 2397 2076 0 0 0 0 0 0

11572 1.06 228.7 198.0 12.3 1216 11580 0.00 2.05 0.00 0.000 6 0.000 0.034 3175 1053 2076 0 0 0 0 0 0

11908 1.06 229.1 158.5 11.1 1277 11916 0.00 1.30 0.00 0.000 4 0.000 0.041 3182 187 2076 0 0 0 0 0 0

12158 1.06 229.1 124.6 13.7 1323 12166 0.00 1.20 0.00 0.000 6 0.000 0.021 3181 1093 2077 0 0 0 0 0 0

12484 1.11 268.7 93.2 7.1 1384 12521 0.00 1.35 30.12 0.678 4 0.000 0.039 3188 180 1931 0 0 0 0 0 0

12604 1.11 268.7 82.7 11.6 1403 12612 0.00 1.23 0.00 0.000 6 0.000 0.020 3188 1106 1929 0 0 0 0 0 0

12931 1.11 270.0 48.6 11.0 1464 12941 0.00 1.38 0.00 0.000 4 0.000 0.038 3195 187 1929 0 0 0 0 0 0

12960 1.11 270.0 44.6 12.8 1468 12968 0.00 1.17 0.00 0.000 6 0.000 0.021 3195 1087 1928 0 0 0 0 0 0

13287 1.13 283.7 11.0 9.7 1529 13304 0.00 0.00 13.38 0.565 6 0.000 0.000 3195 1087 1872 0 0 0 0 0 0

13353 end climb: SURFACE_DEPTH_REACHED

state 13353 begin surface coast

13376 end surface coast: CONTROL_FINISHED_OK

state 13376 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	286	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	289	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	790	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1000	ALTIM_FREQUENCY	13
D_FLARE	5	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	47	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	86	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	490	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3029	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	300	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	375	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	4	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	-54483.055	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
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	-5	PITCH_MIN	134	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	235	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2822	PHONE_SUPPLY	2	SEABIRD_T_G	0.004337667
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-16.491346	SEABIRD_T_H	0.00063136261
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_I	2.3680945e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4321864e-06
MASS	51890	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8870621
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1051886
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001683808
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00020742195
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	021110,144137,2123.091,12601.223,40,1.1,41,-2.9	TGT_NAME	PICKUP_NORTH
_CALLS	2	TGT_LATLONG	2124.580,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021110,145202,2123.068,12601.254,13,1.3,13,-2.9	MHEAD_RNG_PITCHd_Wd	353.3,2801,-28.0,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.5,1.022218	_10V_AH	10.2,49.209
SM_CCo	13394,93.88,0.541,1,0,1397,400.08	FG_AHR_24Vo	0.000
SM_GC	1.41,0.00,0.00,93.88,0.000,0.000,0.541,112,760,1397,-8.47,-0.85,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12602.66,021110,141445	MEM	333768
TT8_MAMPS	0.028462	DATA_FILE_SIZE	90226,1544
HUMID	38.02	CAP_FILE_SIZE	156995,0
INTERNAL_PRESSURE	8.92612	CFSIZE	260165632,147996672
TCM_TEMP	28.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.038, 96.1,1
_24V_AH	23.1,53.342	GPS	021110,183837,2124.188,12601.033,38,1.1,38,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	217	99.24	SBE_CT	1054	24	584.50
Roll_motor	74	48	84.63	AA3830	1383	33	1054.45
VBD_pump_during_apogee	301	1415	9867.35	WL_BB2F	1930	105	4683.42
VBD_pump_during_surface	93	540	1172.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	0	0.00	nil	0	0	0.00
Iridium_during_connect	81	0	0.00	nil	0	0	0.00
Iridium_during_xfer	219	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	0	0.00
TT8	3836	19	774.84
LPSleep	5343	2	119.36
TT8_Active	504	19	101.85
TT8_Sampling	3932	39	1596.63
TT8_CF8	483	45	225.76
TT8_Kalman	0	0	0.00
Analog_circuits	1867	12	228.63
GPS_charging	0	0	0.00
Compass	3589	15	549.19
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.87	-73.8	0.0	0.0	0	81	0.00	0.00	-61.22	0.000	2	0.000	0.000	112	779	3216	0	0	0	0	0	0
85	-0.88	-81.9	5.1	-10.3	8	102	9.38	2.08	-2.62	0.000	4	0.217	0.030	2522	2218	3368	0	0	0	0	0	0
194	-0.88	-81.9	42.4	-25.6	27	202	0.00	2.17	0.00	0.000	6	0.000	0.034	2520	797	3370	0	0	0	0	0	0
520	-0.88	-81.9	131.3	-21.2	88	527	0.00	0.88	0.00	0.000	4	0.000	0.041	2521	190	3371	0	0	0	0	0	0
769	-0.88	-81.9	185.6	-19.8	134	777	0.00	0.77	0.00	0.000	6	0.000	0.020	2516	861	3372	0	0	0	0	0	0
1106	-0.88	-81.9	246.4	-17.8	195	1113	0.00	1.85	0.00	0.000	4	0.000	0.016	2507	2217	3373	0	0	0	0	0	0
1349	-0.88	-81.9	281.0	-14.2	239	1357	0.12	2.17	0.00	0.000	6	0.178	0.033	2537	742	3373	0	0	0	0	0	0
1683	-0.88	-81.9	326.9	-14.2	300	1691	0.00	0.77	0.00	0.000	4	0.000	0.043	2537	200	3373	0	0	0	0	0	0
1936	-0.88	-81.9	364.5	-14.0	346	1944	0.00	0.70	0.00	0.000	6	0.000	0.021	2534	811	3373	0	0	0	0	0	0
2270	-0.88	-81.9	407.6	-12.6	407	2277	0.00	0.90	0.00	0.000	4	0.000	0.041	2535	197	3372	0	0	0	0	0	0
2522	-0.88	-81.9	442.2	-13.4	453	2530	0.00	0.60	0.00	0.000	6	0.000	0.023	2532	729	3371	0	0	0	0	0	0
2858	-0.88	-81.9	483.5	-12.2	514	2865	0.00	1.98	0.00	0.000	4	0.000	0.017	2525	2136	3369	0	0	0	0	0	0
2879	-0.88	-81.9	486.2	-11.9	517	2887	0.00	2.08	0.00	0.000	6	0.000	0.034	2524	737	3368	0	0	0	0	0	0
3207	-0.88	-81.9	525.5	-11.6	558	3208	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	737	3367	0	0	0	0	0	0
3529	-0.88	-81.9	562.5	-11.8	588	3533	0.00	0.77	0.00	0.000	4	0.000	0.045	2525	202	3365	0	0	0	0	0	0
3789	-0.88	-81.9	594.9	-11.4	611	3792	0.00	0.60	0.00	0.000	6	0.000	0.024	2521	709	3363	0	0	0	0	0	0
4122	-0.89	-90.7	630.8	-10.2	629	4125	0.00	0.75	0.00	0.000	4	0.000	0.045	2521	200	3360	0	0	0	0	0	0
4381	-0.89	-90.7	661.4	-11.7	640	4385	0.00	0.57	0.00	0.000	6	0.000	0.024	2520	679	3358	0	0	0	0	0	0
4705	-0.89	-90.7	697.5	-11.1	656	4708	0.00	0.70	0.00	0.000	4	0.000	0.047	2520	206	3355	0	0	0	0	0	0
4751	-0.89	-90.7	703.0	-11.6	658	4755	0.00	0.57	0.00	0.000	6	0.000	0.025	2520	680	3355	0	0	0	0	0	0
5086	-0.89	-92.5	739.4	-10.9	674	5090	0.00	0.73	0.00	0.000	4	0.000	0.047	2520	193	3352	0	0	0	0	0	0
5252	-0.89	-92.5	759.2	-12.4	681	5255	0.00	0.57	0.00	0.000	6	0.000	0.026	2520	659	3351	0	0	0	0	0	0
5581	-0.91	-109.5	793.4	-9.4	697	5585	0.00	2.08	0.00	0.000	4	0.000	0.019	2520	2124	3348	0	0	0	0	0	0
5630	-0.95	-142.0	797.9	-7.8	699	5634	0.00	2.12	0.00	0.000	6	0.000	0.037	2520	716	3348	0	0	0	0	0	0
5947	-0.97	-159.7	827.0	-9.3	714	5951	0.00	0.75	0.00	0.000	4	0.000	0.048	2519	206	3345	0	0	0	0	0	0
6114	-0.98	-166.6	843.6	-10.4	721	6118	0.00	0.55	0.00	0.000	6	0.000	0.027	2519	651	3345	0	0	0	0	0	0
6442	-1.00	-178.4	875.0	-9.9	737	6443	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	651	3343	0	0	0	0	0	0
6753	-1.02	-197.3	905.0	-9.2	752	6756	0.00	0.68	0.00	0.000	4	0.000	0.049	2519	201	3341	0	0	0	0	0	0
6813	-1.04	-216.2	911.1	-9.2	754	6820	0.00	0.55	0.00	0.000	6	0.000	0.027	2520	638	3341	0	0	0	0	0	0
7132	-1.06	-228.7	938.9	-8.6	770	7136	0.12	2.15	0.00	0.000	4	0.096	0.021	2467	2115	3338	0	0	0	0	0	0
7220	-1.06	-228.7	947.8	-9.7	774	7224	0.00	2.15	0.00	0.000	6	0.000	0.038	2467	702	3337	0	0	0	0	0	0
7543	-1.06	-228.7	982.8	-11.0	790	7547	0.00	0.75	0.00	0.000	4	0.000	0.049	2465	196	3336	0	0	0	0	0	0
7691	end dive: TARGET_DEPTH_EXCEEDED
state	7691	begin apogee
7698	-0.14	0.0	1000.1	11.7	796	7766	1.02	0.00	63.78	1.415	4	0.165	0.000	2766	973	3029	0	0	0	0	0	0
7767	end apogee: CONTROL_FINISHED_OK
state	7767	begin climb
7771	1.06	228.7	1001.8	0.0	799	7976	1.10	2.12	194.55	1.365	4	0.055	0.021	3171	2390	2095	0	0	0	0	0	0
8140	1.06	228.7	932.9	24.3	816	8144	0.00	2.15	0.00	0.000	6	0.000	0.035	3181	1010	2086	0	0	0	0	0	0
8467	1.06	228.7	849.6	24.7	832	8470	0.00	1.25	0.00	0.000	4	0.000	0.044	3188	192	2084	0	0	0	0	0	0
8646	1.06	228.7	802.8	25.4	840	8650	0.00	1.12	0.00	0.000	6	0.000	0.026	3188	994	2083	0	0	0	0	0	0
8979	1.06	228.7	718.9	25.6	856	8983	0.00	2.03	0.00	0.000	4	0.000	0.024	3188	2384	2081	0	0	0	0	0	0
9219	1.06	228.7	662.9	22.9	866	9227	0.12	2.05	0.00	0.000	6	0.210	0.034	3167	1037	2080	0	0	0	0	0	0
9538	1.06	228.7	590.6	23.1	883	9541	0.00	1.27	0.00	0.000	4	0.000	0.045	3173	192	2079	0	0	0	0	0	0
9561	1.06	228.7	584.7	23.7	885	9565	0.00	1.20	0.00	0.000	6	0.000	0.024	3173	1054	2079	0	0	0	0	0	0
9892	1.06	228.7	509.0	22.8	916	9896	0.00	1.95	0.00	0.000	4	0.000	0.025	3173	2392	2078	0	0	0	0	0	0
9921	1.06	228.7	502.8	21.8	918	9927	0.00	2.05	0.00	0.000	6	0.000	0.035	3182	1033	2077	0	0	0	0	0	0
10252	1.06	228.7	433.2	20.4	978	10260	0.00	2.00	0.00	0.000	4	0.000	0.024	3182	2391	2077	0	0	0	0	0	0
10316	1.06	228.7	420.5	19.7	989	10323	0.00	2.05	0.00	0.000	6	0.000	0.036	3190	1045	2077	0	0	0	0	0	0
10647	1.06	228.7	349.3	22.3	1050	10655	0.00	2.00	0.00	0.000	4	0.000	0.024	3190	2395	2076	0	0	0	0	0	0
10669	1.06	228.7	344.8	22.1	1053	10677	0.15	2.03	0.00	0.000	6	0.201	0.034	3162	1044	2076	0	0	0	0	0	0
11006	1.06	228.7	283.5	18.2	1114	11014	0.00	1.30	0.00	0.000	4	0.000	0.044	3168	183	2076	0	0	0	0	0	0
11121	1.06	228.7	263.5	15.6	1134	11128	0.00	1.20	0.00	0.000	6	0.000	0.022	3168	1066	2076	0	0	0	0	0	0
11457	1.06	228.7	213.8	15.2	1195	11463	0.00	1.90	0.00	0.000	4	0.000	0.022	3168	2397	2076	0	0	0	0	0	0
11572	1.06	228.7	198.0	12.3	1216	11580	0.00	2.05	0.00	0.000	6	0.000	0.034	3175	1053	2076	0	0	0	0	0	0
11908	1.06	229.1	158.5	11.1	1277	11916	0.00	1.30	0.00	0.000	4	0.000	0.041	3182	187	2076	0	0	0	0	0	0
12158	1.06	229.1	124.6	13.7	1323	12166	0.00	1.20	0.00	0.000	6	0.000	0.021	3181	1093	2077	0	0	0	0	0	0
12484	1.11	268.7	93.2	7.1	1384	12521	0.00	1.35	30.12	0.678	4	0.000	0.039	3188	180	1931	0	0	0	0	0	0
12604	1.11	268.7	82.7	11.6	1403	12612	0.00	1.23	0.00	0.000	6	0.000	0.020	3188	1106	1929	0	0	0	0	0	0
12931	1.11	270.0	48.6	11.0	1464	12941	0.00	1.38	0.00	0.000	4	0.000	0.038	3195	187	1929	0	0	0	0	0	0
12960	1.11	270.0	44.6	12.8	1468	12968	0.00	1.17	0.00	0.000	6	0.000	0.021	3195	1087	1928	0	0	0	0	0	0
13287	1.13	283.7	11.0	9.7	1529	13304	0.00	0.00	13.38	0.565	6	0.000	0.000	3195	1087	1872	0	0	0	0	0	0
13353	end climb: SURFACE_DEPTH_REACHED
state	13353	begin surface coast
13376	end surface coast: CONTROL_FINISHED_OK
state	13376	begin surface