Glider dive log

ITOP Sep10 * SG168 * Dive index * Mission links * Dive 467 * 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 467 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 468 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 40 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 -3823.7339 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 -3823.7339

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 31 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 40 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 467 NAV_MODE 2 SEABIRD_C_J 0.00017813468 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 468 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 101110,041737,2122.205,12600.182,31,1.1,31,-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 4.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101110,042238,2122.123,12600.132,13,1.4,13,-2.9 MHEAD_RNG_PITCHd_Wd 88.1,2082,-26.0,-13.889

SPEED_LIMITS 0.241,0.322 D_GRID 1000

Post-dive calculations and measurements:

FREEZE 3.30,26.647,-1.654,0,1,0 _10V_AH 10.1,46.353

SM_CCo 12117,73.88,0.493,0,0,413,650.78 FG_AHR_24Vo 0.000

SM_GC 4.04,8.73,0.00,0.00,0.017,0.000,0.000,104,1548,409,-9.70,-0.06,652.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2111.01,12601.30,101110,000053 MEM 333972

TT8_MAMPS 0.026964 DATA_FILE_SIZE 70262,1208

HUMID 46.77 CAP_FILE_SIZE 139492,0

INTERNAL_PRESSURE 9.43396 CFSIZE 260165632,224919552

TCM_TEMP 25.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 9 CURRENT 0.109,254.9,1

_24V_AH 23.2,65.427 GPS 101110,075136,2122.087,12601.396,31,0.9,35,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 203 109.05 SBE_CT 819 24 456.40

Roll_motor 106 76 188.35 AA4330 0 0 0.00

VBD_pump_during_apogee 509 1217 14397.95 WL_BB2F 0 0 0.00

VBD_pump_during_surface 73 493 845.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 0 0.00 nil 0 0 0.00

Iridium_during_connect 19 0 0.00 nil 0 0 0.00

Iridium_during_xfer 126 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 21.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 0 0.00

TT8 2929 19 585.90

LPSleep 6738 2 149.05

TT8_Active 691 19 138.30

TT8_Sampling 2122 39 853.25

TT8_CF8 254 45 117.95

TT8_Kalman 0 0 0.00

Analog_circuits 1766 12 214.15

GPS_charging 0 0 0.00

Compass 1932 15 292.82

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 -0.72 -116.3 0.0 0.0 0 24 0.00 0.00 -6.43 0.000 2 0.000 0.000 104 1539 613 0 0 0 0 0 0

26 -0.81 -185.1 4.1 -0.0 1 156 9.57 2.17 -109.93 0.000 4 0.161 0.063 2991 167 3824 0 0 0 0 0 0

185 -0.78 -185.1 18.4 -29.3 27 193 0.08 2.10 0.00 0.000 6 0.190 0.039 3000 1544 3825 0 0 0 0 0 0

530 -0.76 -185.1 132.2 -25.6 88 537 0.00 2.15 0.00 0.000 4 0.000 0.052 3000 158 3825 0 0 0 0 0 0

589 -0.76 -185.1 148.1 -24.9 98 597 0.08 2.10 0.00 0.000 6 0.181 0.037 3013 1538 3825 0 0 0 0 0 0

933 -0.78 -185.1 212.5 -17.0 159 940 0.00 2.15 0.00 0.000 4 0.000 0.051 3013 161 3826 0 0 0 0 0 0

959 -0.79 -185.1 217.5 -19.3 163 965 0.00 2.08 0.00 0.000 6 0.000 0.037 3004 1534 3826 0 0 0 0 0 0

1302 -0.81 -185.1 281.1 -17.1 224 1309 0.00 2.20 0.00 0.000 4 0.000 0.044 2994 2963 3826 0 0 0 0 0 0

1360 -0.87 -185.1 290.9 -15.7 234 1370 0.08 2.20 0.00 0.000 6 0.115 0.044 2877 1530 3826 0 0 0 0 0 0

1691 -0.82 -185.1 383.3 -26.8 268 1696 0.30 2.20 0.00 0.000 4 0.123 0.041 2976 2959 3825 0 0 0 0 0 0

1724 -0.84 -185.1 390.7 -19.5 270 1732 0.00 2.17 0.00 0.000 6 0.000 0.045 2976 1542 3826 0 0 0 0 0 0

2050 -0.86 -185.1 445.0 -16.6 301 2051 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 1542 3825 0 0 0 0 0 0

2371 -0.89 -185.1 493.8 -14.9 331 2375 0.00 2.20 0.00 0.000 4 0.000 0.046 2967 2960 3823 0 0 0 0 0 0

2399 -0.93 -185.1 498.2 -14.3 333 2403 0.00 2.22 0.00 0.000 6 0.000 0.047 2967 1546 3823 0 0 0 0 0 0

2725 -0.96 -185.1 548.9 -16.5 363 2730 0.08 2.20 0.00 0.000 4 0.119 0.047 2851 2956 3820 0 0 0 0 0 0

2780 -0.94 -185.1 561.3 -23.2 367 2788 0.30 2.20 0.00 0.000 6 0.112 0.047 2952 1541 3820 0 0 0 0 0 0

3113 -0.96 -185.1 617.3 -16.4 394 3117 0.00 2.20 0.00 0.000 4 0.000 0.047 2942 2956 3816 0 0 0 0 0 0

3151 -1.00 -185.1 623.6 -15.1 395 3158 0.00 2.20 0.00 0.000 6 0.000 0.049 2943 1551 3816 0 0 0 0 0 0

3469 -1.01 -185.1 678.0 -17.4 411 3473 0.00 2.22 0.00 0.000 4 0.000 0.047 2934 2956 3813 0 0 0 0 0 0

3490 -1.03 -185.1 682.3 -17.4 412 3494 0.00 2.20 0.00 0.000 6 0.000 0.049 2933 1551 3813 0 0 0 0 0 0

3818 -1.05 -185.1 740.4 -17.7 428 3819 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1549 3810 0 0 0 0 0 0

4128 -1.06 -185.1 792.8 -16.4 443 4133 0.08 2.22 0.00 0.000 4 0.125 0.048 2824 2956 3806 0 0 0 0 0 0

4161 -1.03 -185.1 799.8 -21.4 444 4166 0.30 2.20 0.00 0.000 6 0.119 0.050 2924 1557 3806 0 0 0 0 0 0

4478 -1.04 -185.1 853.8 -16.2 459 4479 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1556 3803 0 0 0 0 0 0

4786 -1.06 -185.1 903.0 -15.5 474 4787 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 1556 3800 0 0 0 0 0 0

5095 -1.07 -185.1 953.3 -16.3 489 5099 0.00 2.20 0.00 0.000 4 0.000 0.050 2913 2958 3796 0 0 0 0 0 0

5137 -1.10 -185.1 959.5 -15.6 491 5141 0.00 2.22 0.00 0.000 6 0.000 0.054 2913 1557 3796 0 0 0 0 0 0

5399 end dive: TARGET_DEPTH_EXCEEDED

state 5399 begin apogee

5405 0.00 0.0 1002.9 16.2 504 5563 0.95 0.00 151.62 1.218 4 0.094 0.000 3253 1710 3067 0 0 0 0 0 0

5564 end apogee: CONTROL_FINISHED_OK

state 5564 begin climb

5566 0.81 185.1 1009.0 0.0 511 5737 0.70 2.30 161.20 1.138 4 0.028 0.048 3564 3107 2313 0 0 0 0 0 0

5887 0.75 185.1 948.3 25.4 526 5892 0.30 2.25 0.00 0.000 6 0.158 0.049 3488 1699 2305 0 0 0 0 0 0

6211 0.72 185.1 882.8 20.7 542 6215 0.00 2.17 0.00 0.000 4 0.000 0.041 3488 3116 2299 0 0 0 0 0 0

6232 0.70 185.1 877.5 20.7 543 6237 0.08 2.25 0.00 0.000 6 0.203 0.049 3480 1698 2299 0 0 0 0 0 0

6556 0.69 185.1 815.7 19.0 559 6557 0.00 0.00 0.00 0.000 6 0.000 0.000 3480 1698 2297 0 0 0 0 0 0

6863 0.68 185.1 758.2 18.4 574 6867 0.00 2.17 0.00 0.000 4 0.000 0.042 3480 3110 2295 0 0 0 0 0 0

6908 0.68 185.1 749.9 18.7 576 6912 0.08 2.22 0.00 0.000 6 0.200 0.050 3471 1704 2295 0 0 0 0 0 0

7240 0.68 185.1 693.1 16.5 592 7242 0.00 0.00 0.00 0.000 6 0.000 0.000 3471 1704 2293 0 0 0 0 0 0

7549 0.68 185.1 643.5 15.4 607 7551 0.00 0.00 0.00 0.000 6 0.000 0.000 3471 1704 2293 0 0 0 0 0 0

7859 0.68 185.1 592.4 16.2 624 7863 0.00 2.20 0.00 0.000 4 0.000 0.042 3471 3112 2291 0 0 0 0 0 0

7916 0.68 185.1 582.7 17.7 628 7923 0.00 2.22 0.00 0.000 6 0.000 0.050 3481 1704 2292 0 0 0 0 0 0

8242 0.68 185.1 528.4 16.5 659 8243 0.00 0.00 0.00 0.000 6 0.000 0.000 3481 1704 2291 0 0 0 0 0 0

8562 0.68 185.1 476.4 16.7 689 8566 0.00 2.17 0.00 0.000 4 0.000 0.042 3481 3106 2289 0 0 0 0 0 0

8628 0.68 185.1 464.8 15.9 694 8636 0.05 2.22 0.00 0.000 6 0.150 0.048 3472 1719 2289 0 0 0 0 0 0

8954 0.69 185.1 417.0 14.6 725 8958 0.00 2.28 0.00 0.000 4 0.000 0.062 3482 293 2289 0 0 0 0 0 0

8985 0.69 185.1 412.0 15.0 727 8993 0.00 2.17 0.00 0.000 6 0.000 0.035 3482 1703 2287 0 0 0 0 0 0

9311 0.70 197.2 367.4 12.9 758 9325 0.00 2.25 7.15 0.712 4 0.000 0.041 3482 3111 2264 0 0 0 0 0 0

9360 0.71 197.2 360.5 14.4 762 9364 0.00 2.20 0.00 0.000 6 0.000 0.047 3493 1714 2264 0 0 0 0 0 0

9685 0.71 197.2 313.1 15.1 792 9689 0.00 2.30 0.00 0.000 4 0.000 0.060 3503 285 2264 0 0 0 0 0 0

9728 0.71 197.2 306.0 15.9 795 9737 0.05 2.20 0.00 0.000 6 0.138 0.034 3483 1715 2262 0 0 0 0 0 0

10070 0.76 226.3 263.6 11.6 852 10103 0.00 2.22 26.50 0.734 4 0.000 0.041 3483 3108 2144 0 0 0 0 0 0

10157 0.81 237.9 252.9 13.0 866 10177 0.05 2.22 11.48 0.671 6 0.160 0.046 3564 1712 2097 0 0 0 0 0 0

10513 0.78 237.9 186.7 18.2 929 10520 0.20 2.28 0.00 0.000 4 0.155 0.054 3517 292 2092 0 0 0 0 0 0

10666 0.80 240.7 164.2 13.7 956 10673 0.00 2.10 0.00 0.000 6 0.000 0.032 3517 1696 2090 0 0 0 0 0 0

11012 0.90 296.8 125.8 9.4 1017 11069 0.08 2.30 48.17 0.613 4 0.118 0.055 3613 290 1857 0 0 0 0 0 0

11153 0.89 296.8 101.9 18.2 1041 11161 0.25 2.12 0.00 0.000 6 0.120 0.032 3533 1699 1851 0 0 0 0 0 0

11498 0.97 332.1 61.5 11.1 1102 11536 0.10 2.30 28.52 0.541 4 0.093 0.054 3648 300 1713 0 0 0 0 0 0

11550 0.94 332.1 52.9 18.7 1110 11558 0.30 2.10 0.00 0.000 6 0.130 0.030 3554 1698 1711 0 0 0 0 0 0

11896 0.96 336.2 3.7 13.6 1171 11904 0.00 2.30 2.20 0.154 4 0.000 0.055 3554 292 1696 0 0 0 0 0 0

11934 1.34 503.5 3.4 0.5 1177 12017 0.35 2.10 72.72 0.496 6 0.063 0.033 3698 1686 1012 0 0 0 0 0 0

12114 end climb: NO_VERTICAL_VELOCITY

state 12114 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	467	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	468	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	40	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	-3823.7339	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	101110,041737,2122.205,12600.182,31,1.1,31,-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	4.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101110,042238,2122.123,12600.132,13,1.4,13,-2.9	MHEAD_RNG_PITCHd_Wd	88.1,2082,-26.0,-13.889
SPEED_LIMITS	0.241,0.322	D_GRID	1000

FREEZE	3.30,26.647,-1.654,0,1,0	_10V_AH	10.1,46.353
SM_CCo	12117,73.88,0.493,0,0,413,650.78	FG_AHR_24Vo	0.000
SM_GC	4.04,8.73,0.00,0.00,0.017,0.000,0.000,104,1548,409,-9.70,-0.06,652.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2111.01,12601.30,101110,000053	MEM	333972
TT8_MAMPS	0.026964	DATA_FILE_SIZE	70262,1208
HUMID	46.77	CAP_FILE_SIZE	139492,0
INTERNAL_PRESSURE	9.43396	CFSIZE	260165632,224919552
TCM_TEMP	25.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	9	CURRENT	0.109,254.9,1
_24V_AH	23.2,65.427	GPS	101110,075136,2122.087,12601.396,31,0.9,35,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	203	109.05	SBE_CT	819	24	456.40
Roll_motor	106	76	188.35	AA4330	0	0	0.00
VBD_pump_during_apogee	509	1217	14397.95	WL_BB2F	0	0	0.00
VBD_pump_during_surface	73	493	845.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	0	0.00	nil	0	0	0.00
Iridium_during_connect	19	0	0.00	nil	0	0	0.00
Iridium_during_xfer	126	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	21.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	0	0.00
TT8	2929	19	585.90
LPSleep	6738	2	149.05
TT8_Active	691	19	138.30
TT8_Sampling	2122	39	853.25
TT8_CF8	254	45	117.95
TT8_Kalman	0	0	0.00
Analog_circuits	1766	12	214.15
GPS_charging	0	0	0.00
Compass	1932	15	292.82
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	-0.72	-116.3	0.0	0.0	0	24	0.00	0.00	-6.43	0.000	2	0.000	0.000	104	1539	613	0	0	0	0	0	0
26	-0.81	-185.1	4.1	-0.0	1	156	9.57	2.17	-109.93	0.000	4	0.161	0.063	2991	167	3824	0	0	0	0	0	0
185	-0.78	-185.1	18.4	-29.3	27	193	0.08	2.10	0.00	0.000	6	0.190	0.039	3000	1544	3825	0	0	0	0	0	0
530	-0.76	-185.1	132.2	-25.6	88	537	0.00	2.15	0.00	0.000	4	0.000	0.052	3000	158	3825	0	0	0	0	0	0
589	-0.76	-185.1	148.1	-24.9	98	597	0.08	2.10	0.00	0.000	6	0.181	0.037	3013	1538	3825	0	0	0	0	0	0
933	-0.78	-185.1	212.5	-17.0	159	940	0.00	2.15	0.00	0.000	4	0.000	0.051	3013	161	3826	0	0	0	0	0	0
959	-0.79	-185.1	217.5	-19.3	163	965	0.00	2.08	0.00	0.000	6	0.000	0.037	3004	1534	3826	0	0	0	0	0	0
1302	-0.81	-185.1	281.1	-17.1	224	1309	0.00	2.20	0.00	0.000	4	0.000	0.044	2994	2963	3826	0	0	0	0	0	0
1360	-0.87	-185.1	290.9	-15.7	234	1370	0.08	2.20	0.00	0.000	6	0.115	0.044	2877	1530	3826	0	0	0	0	0	0
1691	-0.82	-185.1	383.3	-26.8	268	1696	0.30	2.20	0.00	0.000	4	0.123	0.041	2976	2959	3825	0	0	0	0	0	0
1724	-0.84	-185.1	390.7	-19.5	270	1732	0.00	2.17	0.00	0.000	6	0.000	0.045	2976	1542	3826	0	0	0	0	0	0
2050	-0.86	-185.1	445.0	-16.6	301	2051	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	1542	3825	0	0	0	0	0	0
2371	-0.89	-185.1	493.8	-14.9	331	2375	0.00	2.20	0.00	0.000	4	0.000	0.046	2967	2960	3823	0	0	0	0	0	0
2399	-0.93	-185.1	498.2	-14.3	333	2403	0.00	2.22	0.00	0.000	6	0.000	0.047	2967	1546	3823	0	0	0	0	0	0
2725	-0.96	-185.1	548.9	-16.5	363	2730	0.08	2.20	0.00	0.000	4	0.119	0.047	2851	2956	3820	0	0	0	0	0	0
2780	-0.94	-185.1	561.3	-23.2	367	2788	0.30	2.20	0.00	0.000	6	0.112	0.047	2952	1541	3820	0	0	0	0	0	0
3113	-0.96	-185.1	617.3	-16.4	394	3117	0.00	2.20	0.00	0.000	4	0.000	0.047	2942	2956	3816	0	0	0	0	0	0
3151	-1.00	-185.1	623.6	-15.1	395	3158	0.00	2.20	0.00	0.000	6	0.000	0.049	2943	1551	3816	0	0	0	0	0	0
3469	-1.01	-185.1	678.0	-17.4	411	3473	0.00	2.22	0.00	0.000	4	0.000	0.047	2934	2956	3813	0	0	0	0	0	0
3490	-1.03	-185.1	682.3	-17.4	412	3494	0.00	2.20	0.00	0.000	6	0.000	0.049	2933	1551	3813	0	0	0	0	0	0
3818	-1.05	-185.1	740.4	-17.7	428	3819	0.00	0.00	0.00	0.000	6	0.000	0.000	2933	1549	3810	0	0	0	0	0	0
4128	-1.06	-185.1	792.8	-16.4	443	4133	0.08	2.22	0.00	0.000	4	0.125	0.048	2824	2956	3806	0	0	0	0	0	0
4161	-1.03	-185.1	799.8	-21.4	444	4166	0.30	2.20	0.00	0.000	6	0.119	0.050	2924	1557	3806	0	0	0	0	0	0
4478	-1.04	-185.1	853.8	-16.2	459	4479	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1556	3803	0	0	0	0	0	0
4786	-1.06	-185.1	903.0	-15.5	474	4787	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	1556	3800	0	0	0	0	0	0
5095	-1.07	-185.1	953.3	-16.3	489	5099	0.00	2.20	0.00	0.000	4	0.000	0.050	2913	2958	3796	0	0	0	0	0	0
5137	-1.10	-185.1	959.5	-15.6	491	5141	0.00	2.22	0.00	0.000	6	0.000	0.054	2913	1557	3796	0	0	0	0	0	0
5399	end dive: TARGET_DEPTH_EXCEEDED
state	5399	begin apogee
5405	0.00	0.0	1002.9	16.2	504	5563	0.95	0.00	151.62	1.218	4	0.094	0.000	3253	1710	3067	0	0	0	0	0	0
5564	end apogee: CONTROL_FINISHED_OK
state	5564	begin climb
5566	0.81	185.1	1009.0	0.0	511	5737	0.70	2.30	161.20	1.138	4	0.028	0.048	3564	3107	2313	0	0	0	0	0	0
5887	0.75	185.1	948.3	25.4	526	5892	0.30	2.25	0.00	0.000	6	0.158	0.049	3488	1699	2305	0	0	0	0	0	0
6211	0.72	185.1	882.8	20.7	542	6215	0.00	2.17	0.00	0.000	4	0.000	0.041	3488	3116	2299	0	0	0	0	0	0
6232	0.70	185.1	877.5	20.7	543	6237	0.08	2.25	0.00	0.000	6	0.203	0.049	3480	1698	2299	0	0	0	0	0	0
6556	0.69	185.1	815.7	19.0	559	6557	0.00	0.00	0.00	0.000	6	0.000	0.000	3480	1698	2297	0	0	0	0	0	0
6863	0.68	185.1	758.2	18.4	574	6867	0.00	2.17	0.00	0.000	4	0.000	0.042	3480	3110	2295	0	0	0	0	0	0
6908	0.68	185.1	749.9	18.7	576	6912	0.08	2.22	0.00	0.000	6	0.200	0.050	3471	1704	2295	0	0	0	0	0	0
7240	0.68	185.1	693.1	16.5	592	7242	0.00	0.00	0.00	0.000	6	0.000	0.000	3471	1704	2293	0	0	0	0	0	0
7549	0.68	185.1	643.5	15.4	607	7551	0.00	0.00	0.00	0.000	6	0.000	0.000	3471	1704	2293	0	0	0	0	0	0
7859	0.68	185.1	592.4	16.2	624	7863	0.00	2.20	0.00	0.000	4	0.000	0.042	3471	3112	2291	0	0	0	0	0	0
7916	0.68	185.1	582.7	17.7	628	7923	0.00	2.22	0.00	0.000	6	0.000	0.050	3481	1704	2292	0	0	0	0	0	0
8242	0.68	185.1	528.4	16.5	659	8243	0.00	0.00	0.00	0.000	6	0.000	0.000	3481	1704	2291	0	0	0	0	0	0
8562	0.68	185.1	476.4	16.7	689	8566	0.00	2.17	0.00	0.000	4	0.000	0.042	3481	3106	2289	0	0	0	0	0	0
8628	0.68	185.1	464.8	15.9	694	8636	0.05	2.22	0.00	0.000	6	0.150	0.048	3472	1719	2289	0	0	0	0	0	0
8954	0.69	185.1	417.0	14.6	725	8958	0.00	2.28	0.00	0.000	4	0.000	0.062	3482	293	2289	0	0	0	0	0	0
8985	0.69	185.1	412.0	15.0	727	8993	0.00	2.17	0.00	0.000	6	0.000	0.035	3482	1703	2287	0	0	0	0	0	0
9311	0.70	197.2	367.4	12.9	758	9325	0.00	2.25	7.15	0.712	4	0.000	0.041	3482	3111	2264	0	0	0	0	0	0
9360	0.71	197.2	360.5	14.4	762	9364	0.00	2.20	0.00	0.000	6	0.000	0.047	3493	1714	2264	0	0	0	0	0	0
9685	0.71	197.2	313.1	15.1	792	9689	0.00	2.30	0.00	0.000	4	0.000	0.060	3503	285	2264	0	0	0	0	0	0
9728	0.71	197.2	306.0	15.9	795	9737	0.05	2.20	0.00	0.000	6	0.138	0.034	3483	1715	2262	0	0	0	0	0	0
10070	0.76	226.3	263.6	11.6	852	10103	0.00	2.22	26.50	0.734	4	0.000	0.041	3483	3108	2144	0	0	0	0	0	0
10157	0.81	237.9	252.9	13.0	866	10177	0.05	2.22	11.48	0.671	6	0.160	0.046	3564	1712	2097	0	0	0	0	0	0
10513	0.78	237.9	186.7	18.2	929	10520	0.20	2.28	0.00	0.000	4	0.155	0.054	3517	292	2092	0	0	0	0	0	0
10666	0.80	240.7	164.2	13.7	956	10673	0.00	2.10	0.00	0.000	6	0.000	0.032	3517	1696	2090	0	0	0	0	0	0
11012	0.90	296.8	125.8	9.4	1017	11069	0.08	2.30	48.17	0.613	4	0.118	0.055	3613	290	1857	0	0	0	0	0	0
11153	0.89	296.8	101.9	18.2	1041	11161	0.25	2.12	0.00	0.000	6	0.120	0.032	3533	1699	1851	0	0	0	0	0	0
11498	0.97	332.1	61.5	11.1	1102	11536	0.10	2.30	28.52	0.541	4	0.093	0.054	3648	300	1713	0	0	0	0	0	0
11550	0.94	332.1	52.9	18.7	1110	11558	0.30	2.10	0.00	0.000	6	0.130	0.030	3554	1698	1711	0	0	0	0	0	0
11896	0.96	336.2	3.7	13.6	1171	11904	0.00	2.30	2.20	0.154	4	0.000	0.055	3554	292	1696	0	0	0	0	0	0
11934	1.34	503.5	3.4	0.5	1177	12017	0.35	2.10	72.72	0.496	6	0.063	0.033	3698	1686	1012	0	0	0	0	0	0
12114	end climb: NO_VERTICAL_VELOCITY
state	12114	begin surface