Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 677 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 677 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 19 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 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 3 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 -2 T_GPS_CHARGE -49740.031 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

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 -49740.031

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 19 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 17 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 677 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 240511,041528,6654.403,-6018.579,0,4100.2,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 12.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240511,041528,6654.403,-6018.579,0,4100.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 233.3,20017,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 586

Post-dive calculations and measurements:

FREEZE 3.43,-1.716,-1.769,2,40,2 ALTIM_TOP_PING 19.7,15.8

SM_CCo 10900,92.70,0.884,0,0,750,559.04 _24V_AH 21.1,90.325

SM_GC 4.85,9.00,0.00,0.00,0.093,0.000,0.000,106,2493,732,-8.57,0.08,563.45 _10V_AH 9.8,46.707

RAFOS_CLK 626 FG_AHR_24Vo 0.000

RAFOS 4,1306211585,4.566667,4.551389,92,64,62,62,59,58,729,211,163,184,196,132 FG_AHR_10Vo 0.000

RAFOS_FIX 6655.442383,-6013.549805,240511,040453,6,111,7.30 MEM 150560

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 43382,1120

TT8_MAMPS 0.026215 CAP_FILE_SIZE 133261,0

HUMID 49.09 CFSIZE 260165632,209182720

INTERNAL_PRESSURE 8.46712 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1452.6

XPDR_PINGS 9 GPS 240511,041528,6654.403,-6018.579,181,99.0,181,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 239 69.97 SBE_CT 800 24 405.58

Roll_motor 119 94 239.38 SBE_O2 849 19 340.49

VBD_pump_during_apogee 459 1303 12628.29 nil 0 0 0.00

VBD_pump_during_surface 92 883 1728.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 35.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2751 19 537.21

LPSleep 6003 2 135.91

TT8_Active 599 19 117.03

TT8_Sampling 1819 39 711.69

TT8_CF8 255 45 115.04

TT8_Kalman 0 0 0.00

Analog_circuits 1602 12 188.42

GPS_charging 0 0 0.00

Compass 1804 15 265.23

RAFOS 720 1 10.58

Transponder 13 30 3.89

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.47 0.000 2 0.000 0.000 2903 2276 2943 0 0 0 0 0 0

27 -0.62 -146.0 13.2 -0.0 1 51 0.65 2.03 -16.35 0.000 4 0.086 0.091 2664 1078 3628 0 0 0 0 0 0

59 -0.49 -146.0 17.0 -13.7 6 66 0.15 2.38 0.00 0.000 6 0.239 0.076 2696 2489 3630 0 0 0 0 0 0

405 -0.37 -146.0 86.8 -17.1 67 412 0.17 2.45 0.00 0.000 4 0.237 0.094 2737 3906 3629 0 0 0 0 0 0

444 -0.37 -146.0 92.2 -12.4 73 450 0.00 2.30 0.00 0.000 6 0.000 0.064 2738 2490 3630 0 0 0 0 0 0

780 -0.41 -146.0 130.8 -10.7 110 781 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2490 3630 0 0 0 0 0 0

1101 -0.46 -146.0 162.5 -9.5 140 1105 0.00 2.35 0.00 0.000 4 0.000 0.080 2737 1079 3629 0 0 0 0 0 0

1164 -0.56 -146.0 168.9 -9.4 145 1169 0.17 2.40 0.00 0.000 6 0.109 0.078 2676 2498 3628 0 0 0 0 0 0

1490 -0.48 -146.0 214.0 -14.2 175 1495 0.12 2.42 0.00 0.000 4 0.220 0.095 2703 3900 3628 0 0 0 0 0 0

1542 -0.52 -146.0 220.3 -11.2 179 1546 0.00 2.33 0.00 0.000 6 0.000 0.065 2704 2481 3628 0 0 0 0 0 0

1872 -0.52 -146.0 255.6 -10.5 210 1874 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2481 3628 0 0 0 0 0 0

2194 -0.52 -146.0 287.6 -10.1 240 2198 0.00 2.33 0.00 0.000 4 0.000 0.078 2704 1069 3628 0 0 0 0 0 0

2227 -0.55 -146.0 291.3 -10.2 242 2233 0.00 2.40 0.00 0.000 6 0.000 0.077 2704 2489 3627 0 0 0 0 0 0

2554 -0.57 -146.0 322.5 -9.3 273 2558 0.00 2.45 0.00 0.000 4 0.000 0.093 2704 3909 3628 0 0 0 0 0 0

2572 -0.60 -146.0 324.3 -9.5 274 2577 0.12 2.33 0.00 0.000 6 0.128 0.063 2663 2484 3627 0 0 0 0 0 0

2904 -0.52 -146.0 366.7 -12.5 305 2909 0.12 2.38 0.00 0.000 4 0.223 0.077 2691 1070 3628 0 0 0 0 0 0

2915 -0.44 -146.0 368.5 -12.6 305 2922 0.10 2.40 0.00 0.000 6 0.236 0.076 2714 2493 3627 0 0 0 0 0 0

3242 -0.50 -146.0 395.7 -8.2 336 3246 0.00 2.42 0.00 0.000 4 0.000 0.092 2714 3900 3627 0 0 0 0 0 0

3260 -0.56 -146.0 397.2 -7.6 337 3264 0.00 2.33 0.00 0.000 6 0.000 0.062 2714 2478 3627 0 0 0 0 0 0

3587 -0.62 -146.0 422.9 -8.0 367 3589 0.15 0.00 0.00 0.000 6 0.122 0.000 2662 2478 3628 0 0 0 0 0 0

3904 -0.55 -146.0 461.2 -12.5 397 3908 0.00 2.33 0.00 0.000 4 0.000 0.076 2663 1074 3628 0 0 0 0 0 0

3915 -0.48 -146.0 462.9 -12.5 397 3923 0.17 2.40 0.00 0.000 6 0.211 0.075 2704 2496 3628 0 0 0 0 0 0

4241 -0.52 -146.0 490.8 -8.2 428 4246 0.00 2.40 0.00 0.000 4 0.000 0.091 2703 3905 3628 0 0 0 0 0 0

4265 -0.57 -146.0 492.8 -8.1 429 4272 0.00 2.33 0.00 0.000 6 0.000 0.062 2704 2486 3629 0 0 0 0 0 0

4591 -0.62 -146.0 519.7 -8.4 460 4596 0.12 2.35 0.00 0.000 4 0.129 0.076 2661 1070 3629 0 0 0 0 0 0

4607 -0.62 -146.0 521.3 -8.9 461 4614 0.00 2.40 0.00 0.000 6 0.000 0.075 2661 2493 3628 0 0 0 0 0 0

4933 -0.56 -146.0 559.9 -11.6 492 4934 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2493 3628 0 0 0 0 0 0

5143 end dive: TARGET_DEPTH_EXCEEDED

state 5143 begin apogee

5150 -0.12 0.0 586.0 12.2 512 5283 0.57 0.00 126.90 1.304 6 0.198 0.000 2815 2269 3030 0 0 0 0 0 0

5284 end apogee: CONTROL_FINISHED_OK

state 5284 begin climb

5286 0.62 146.0 591.7 0.0 524 5431 0.80 2.70 134.35 1.258 4 0.144 0.081 3059 873 2433 0 0 0 0 0 0

5483 0.61 157.3 582.3 9.5 541 5501 0.00 2.58 11.75 1.096 6 0.000 0.067 3059 2275 2388 0 0 0 0 0 0

5820 0.57 161.0 549.3 9.8 573 5832 0.00 2.42 4.20 0.754 4 0.000 0.085 3058 3696 2373 0 0 0 0 0 0

5930 0.50 161.0 537.1 11.3 582 5938 0.15 2.38 0.00 0.000 6 0.187 0.070 3032 2277 2372 0 0 0 0 0 0

6256 0.56 207.5 510.7 7.9 613 6304 0.00 2.42 42.45 1.204 4 0.000 0.084 3041 864 2184 0 0 0 0 0 0

6358 0.67 238.5 502.4 8.6 621 6398 0.10 2.38 29.98 1.174 6 0.124 0.070 3085 2278 2055 0 0 0 0 0 0

6717 0.62 238.5 455.1 14.0 655 6721 0.00 2.38 0.00 0.000 4 0.000 0.084 3085 3697 2047 0 0 0 0 0 0

6778 0.56 238.5 445.5 15.0 660 6785 0.17 2.38 0.00 0.000 6 0.194 0.070 3052 2267 2046 0 0 0 0 0 0

7106 0.60 238.5 410.5 10.4 691 7110 0.00 2.35 0.00 0.000 4 0.000 0.083 3061 864 2046 0 0 0 0 0 0

7161 0.66 239.4 404.5 10.0 695 7168 0.00 2.35 0.00 0.000 6 0.000 0.070 3060 2278 2044 0 0 0 0 0 0

7489 0.68 239.4 370.3 10.8 726 7493 0.00 2.38 0.00 0.000 4 0.000 0.084 3060 3694 2044 0 0 0 0 0 0

7533 0.68 239.4 364.5 12.2 729 7540 0.00 2.35 0.00 0.000 6 0.000 0.078 3071 2274 2044 0 0 0 0 0 0

7859 0.68 239.4 329.2 10.5 760 7863 0.00 2.35 0.00 0.000 4 0.000 0.082 3082 859 2043 0 0 0 0 0 0

7915 0.68 239.4 323.0 11.1 764 7921 0.00 2.35 0.00 0.000 6 0.000 0.070 3082 2278 2042 0 0 0 0 0 0

8242 0.68 239.4 285.8 11.1 795 8246 0.00 2.38 0.00 0.000 4 0.000 0.083 3082 3694 2042 0 0 0 0 0 0

8309 0.65 239.4 276.9 14.1 800 8316 0.00 2.35 0.00 0.000 6 0.000 0.069 3091 2275 2042 0 0 0 0 0 0

8634 0.65 239.4 239.8 10.8 831 8639 0.00 2.35 0.00 0.000 4 0.000 0.082 3102 859 2042 0 0 0 0 0 0

8687 0.65 239.4 234.2 10.9 835 8691 0.00 2.35 0.00 0.000 6 0.000 0.070 3102 2285 2041 0 0 0 0 0 0

9018 0.61 239.4 195.8 11.6 866 9023 0.15 2.35 0.00 0.000 4 0.182 0.083 3063 3686 2041 0 0 0 0 0 0

9063 0.63 239.4 190.7 11.7 869 9070 0.00 2.35 0.00 0.000 6 0.000 0.069 3071 2265 2041 0 0 0 0 0 0

9389 0.72 269.6 160.6 8.6 900 9423 0.00 2.38 27.40 1.032 4 0.000 0.083 3081 858 1929 0 0 0 0 0 0

9496 0.84 293.4 151.6 8.9 909 9530 0.15 2.38 23.35 1.011 6 0.100 0.071 3141 2277 1833 0 0 0 0 0 0

9849 0.82 293.4 105.7 12.9 942 9853 0.00 2.38 0.00 0.000 4 0.000 0.086 3141 3690 1827 0 0 0 0 0 0

9911 0.74 293.4 97.7 12.5 949 9919 0.17 2.35 0.00 0.000 6 0.195 0.070 3108 2273 1825 0 0 0 0 0 0

10260 0.87 345.7 69.6 7.6 1010 10314 0.12 2.47 47.50 0.991 4 0.109 0.086 3169 864 1620 0 0 0 0 0 0

10384 0.87 345.7 54.6 13.2 1031 10391 0.00 2.38 0.00 0.000 6 0.000 0.073 3169 2273 1615 0 0 0 0 0 0

10735 0.83 345.7 6.4 13.5 1092 10742 0.15 2.40 0.00 0.000 4 0.200 0.087 3131 3693 1610 0 0 0 0 0 0

10762 1.07 369.8 3.9 8.9 1096 10785 0.22 2.35 11.25 0.871 6 0.138 0.065 3197 2262 1520 0 0 0 0 0 0

10896 end climb: NO_VERTICAL_VELOCITY

state 10896 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	677	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	19	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	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	3	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	-2	T_GPS_CHARGE	-49740.031	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	240511,041528,6654.403,-6018.579,0,4100.2,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	12.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240511,041528,6654.403,-6018.579,0,4100.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	233.3,20017,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	586

FREEZE	3.43,-1.716,-1.769,2,40,2	ALTIM_TOP_PING	19.7,15.8
SM_CCo	10900,92.70,0.884,0,0,750,559.04	_24V_AH	21.1,90.325
SM_GC	4.85,9.00,0.00,0.00,0.093,0.000,0.000,106,2493,732,-8.57,0.08,563.45	_10V_AH	9.8,46.707
RAFOS_CLK	626	FG_AHR_24Vo	0.000
RAFOS	4,1306211585,4.566667,4.551389,92,64,62,62,59,58,729,211,163,184,196,132	FG_AHR_10Vo	0.000
RAFOS_FIX	6655.442383,-6013.549805,240511,040453,6,111,7.30	MEM	150560
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	43382,1120
TT8_MAMPS	0.026215	CAP_FILE_SIZE	133261,0
HUMID	49.09	CFSIZE	260165632,209182720
INTERNAL_PRESSURE	8.46712	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1452.6
XPDR_PINGS	9	GPS	240511,041528,6654.403,-6018.579,181,99.0,181,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	239	69.97	SBE_CT	800	24	405.58
Roll_motor	119	94	239.38	SBE_O2	849	19	340.49
VBD_pump_during_apogee	459	1303	12628.29	nil	0	0	0.00
VBD_pump_during_surface	92	883	1728.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	35.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2751	19	537.21
LPSleep	6003	2	135.91
TT8_Active	599	19	117.03
TT8_Sampling	1819	39	711.69
TT8_CF8	255	45	115.04
TT8_Kalman	0	0	0.00
Analog_circuits	1602	12	188.42
GPS_charging	0	0	0.00
Compass	1804	15	265.23
RAFOS	720	1	10.58
Transponder	13	30	3.89

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.47	0.000	2	0.000	0.000	2903	2276	2943	0	0	0	0	0	0
27	-0.62	-146.0	13.2	-0.0	1	51	0.65	2.03	-16.35	0.000	4	0.086	0.091	2664	1078	3628	0	0	0	0	0	0
59	-0.49	-146.0	17.0	-13.7	6	66	0.15	2.38	0.00	0.000	6	0.239	0.076	2696	2489	3630	0	0	0	0	0	0
405	-0.37	-146.0	86.8	-17.1	67	412	0.17	2.45	0.00	0.000	4	0.237	0.094	2737	3906	3629	0	0	0	0	0	0
444	-0.37	-146.0	92.2	-12.4	73	450	0.00	2.30	0.00	0.000	6	0.000	0.064	2738	2490	3630	0	0	0	0	0	0
780	-0.41	-146.0	130.8	-10.7	110	781	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2490	3630	0	0	0	0	0	0
1101	-0.46	-146.0	162.5	-9.5	140	1105	0.00	2.35	0.00	0.000	4	0.000	0.080	2737	1079	3629	0	0	0	0	0	0
1164	-0.56	-146.0	168.9	-9.4	145	1169	0.17	2.40	0.00	0.000	6	0.109	0.078	2676	2498	3628	0	0	0	0	0	0
1490	-0.48	-146.0	214.0	-14.2	175	1495	0.12	2.42	0.00	0.000	4	0.220	0.095	2703	3900	3628	0	0	0	0	0	0
1542	-0.52	-146.0	220.3	-11.2	179	1546	0.00	2.33	0.00	0.000	6	0.000	0.065	2704	2481	3628	0	0	0	0	0	0
1872	-0.52	-146.0	255.6	-10.5	210	1874	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2481	3628	0	0	0	0	0	0
2194	-0.52	-146.0	287.6	-10.1	240	2198	0.00	2.33	0.00	0.000	4	0.000	0.078	2704	1069	3628	0	0	0	0	0	0
2227	-0.55	-146.0	291.3	-10.2	242	2233	0.00	2.40	0.00	0.000	6	0.000	0.077	2704	2489	3627	0	0	0	0	0	0
2554	-0.57	-146.0	322.5	-9.3	273	2558	0.00	2.45	0.00	0.000	4	0.000	0.093	2704	3909	3628	0	0	0	0	0	0
2572	-0.60	-146.0	324.3	-9.5	274	2577	0.12	2.33	0.00	0.000	6	0.128	0.063	2663	2484	3627	0	0	0	0	0	0
2904	-0.52	-146.0	366.7	-12.5	305	2909	0.12	2.38	0.00	0.000	4	0.223	0.077	2691	1070	3628	0	0	0	0	0	0
2915	-0.44	-146.0	368.5	-12.6	305	2922	0.10	2.40	0.00	0.000	6	0.236	0.076	2714	2493	3627	0	0	0	0	0	0
3242	-0.50	-146.0	395.7	-8.2	336	3246	0.00	2.42	0.00	0.000	4	0.000	0.092	2714	3900	3627	0	0	0	0	0	0
3260	-0.56	-146.0	397.2	-7.6	337	3264	0.00	2.33	0.00	0.000	6	0.000	0.062	2714	2478	3627	0	0	0	0	0	0
3587	-0.62	-146.0	422.9	-8.0	367	3589	0.15	0.00	0.00	0.000	6	0.122	0.000	2662	2478	3628	0	0	0	0	0	0
3904	-0.55	-146.0	461.2	-12.5	397	3908	0.00	2.33	0.00	0.000	4	0.000	0.076	2663	1074	3628	0	0	0	0	0	0
3915	-0.48	-146.0	462.9	-12.5	397	3923	0.17	2.40	0.00	0.000	6	0.211	0.075	2704	2496	3628	0	0	0	0	0	0
4241	-0.52	-146.0	490.8	-8.2	428	4246	0.00	2.40	0.00	0.000	4	0.000	0.091	2703	3905	3628	0	0	0	0	0	0
4265	-0.57	-146.0	492.8	-8.1	429	4272	0.00	2.33	0.00	0.000	6	0.000	0.062	2704	2486	3629	0	0	0	0	0	0
4591	-0.62	-146.0	519.7	-8.4	460	4596	0.12	2.35	0.00	0.000	4	0.129	0.076	2661	1070	3629	0	0	0	0	0	0
4607	-0.62	-146.0	521.3	-8.9	461	4614	0.00	2.40	0.00	0.000	6	0.000	0.075	2661	2493	3628	0	0	0	0	0	0
4933	-0.56	-146.0	559.9	-11.6	492	4934	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2493	3628	0	0	0	0	0	0
5143	end dive: TARGET_DEPTH_EXCEEDED
state	5143	begin apogee
5150	-0.12	0.0	586.0	12.2	512	5283	0.57	0.00	126.90	1.304	6	0.198	0.000	2815	2269	3030	0	0	0	0	0	0
5284	end apogee: CONTROL_FINISHED_OK
state	5284	begin climb
5286	0.62	146.0	591.7	0.0	524	5431	0.80	2.70	134.35	1.258	4	0.144	0.081	3059	873	2433	0	0	0	0	0	0
5483	0.61	157.3	582.3	9.5	541	5501	0.00	2.58	11.75	1.096	6	0.000	0.067	3059	2275	2388	0	0	0	0	0	0
5820	0.57	161.0	549.3	9.8	573	5832	0.00	2.42	4.20	0.754	4	0.000	0.085	3058	3696	2373	0	0	0	0	0	0
5930	0.50	161.0	537.1	11.3	582	5938	0.15	2.38	0.00	0.000	6	0.187	0.070	3032	2277	2372	0	0	0	0	0	0
6256	0.56	207.5	510.7	7.9	613	6304	0.00	2.42	42.45	1.204	4	0.000	0.084	3041	864	2184	0	0	0	0	0	0
6358	0.67	238.5	502.4	8.6	621	6398	0.10	2.38	29.98	1.174	6	0.124	0.070	3085	2278	2055	0	0	0	0	0	0
6717	0.62	238.5	455.1	14.0	655	6721	0.00	2.38	0.00	0.000	4	0.000	0.084	3085	3697	2047	0	0	0	0	0	0
6778	0.56	238.5	445.5	15.0	660	6785	0.17	2.38	0.00	0.000	6	0.194	0.070	3052	2267	2046	0	0	0	0	0	0
7106	0.60	238.5	410.5	10.4	691	7110	0.00	2.35	0.00	0.000	4	0.000	0.083	3061	864	2046	0	0	0	0	0	0
7161	0.66	239.4	404.5	10.0	695	7168	0.00	2.35	0.00	0.000	6	0.000	0.070	3060	2278	2044	0	0	0	0	0	0
7489	0.68	239.4	370.3	10.8	726	7493	0.00	2.38	0.00	0.000	4	0.000	0.084	3060	3694	2044	0	0	0	0	0	0
7533	0.68	239.4	364.5	12.2	729	7540	0.00	2.35	0.00	0.000	6	0.000	0.078	3071	2274	2044	0	0	0	0	0	0
7859	0.68	239.4	329.2	10.5	760	7863	0.00	2.35	0.00	0.000	4	0.000	0.082	3082	859	2043	0	0	0	0	0	0
7915	0.68	239.4	323.0	11.1	764	7921	0.00	2.35	0.00	0.000	6	0.000	0.070	3082	2278	2042	0	0	0	0	0	0
8242	0.68	239.4	285.8	11.1	795	8246	0.00	2.38	0.00	0.000	4	0.000	0.083	3082	3694	2042	0	0	0	0	0	0
8309	0.65	239.4	276.9	14.1	800	8316	0.00	2.35	0.00	0.000	6	0.000	0.069	3091	2275	2042	0	0	0	0	0	0
8634	0.65	239.4	239.8	10.8	831	8639	0.00	2.35	0.00	0.000	4	0.000	0.082	3102	859	2042	0	0	0	0	0	0
8687	0.65	239.4	234.2	10.9	835	8691	0.00	2.35	0.00	0.000	6	0.000	0.070	3102	2285	2041	0	0	0	0	0	0
9018	0.61	239.4	195.8	11.6	866	9023	0.15	2.35	0.00	0.000	4	0.182	0.083	3063	3686	2041	0	0	0	0	0	0
9063	0.63	239.4	190.7	11.7	869	9070	0.00	2.35	0.00	0.000	6	0.000	0.069	3071	2265	2041	0	0	0	0	0	0
9389	0.72	269.6	160.6	8.6	900	9423	0.00	2.38	27.40	1.032	4	0.000	0.083	3081	858	1929	0	0	0	0	0	0
9496	0.84	293.4	151.6	8.9	909	9530	0.15	2.38	23.35	1.011	6	0.100	0.071	3141	2277	1833	0	0	0	0	0	0
9849	0.82	293.4	105.7	12.9	942	9853	0.00	2.38	0.00	0.000	4	0.000	0.086	3141	3690	1827	0	0	0	0	0	0
9911	0.74	293.4	97.7	12.5	949	9919	0.17	2.35	0.00	0.000	6	0.195	0.070	3108	2273	1825	0	0	0	0	0	0
10260	0.87	345.7	69.6	7.6	1010	10314	0.12	2.47	47.50	0.991	4	0.109	0.086	3169	864	1620	0	0	0	0	0	0
10384	0.87	345.7	54.6	13.2	1031	10391	0.00	2.38	0.00	0.000	6	0.000	0.073	3169	2273	1615	0	0	0	0	0	0
10735	0.83	345.7	6.4	13.5	1092	10742	0.15	2.40	0.00	0.000	4	0.200	0.087	3131	3693	1610	0	0	0	0	0	0
10762	1.07	369.8	3.9	8.9	1096	10785	0.22	2.35	11.25	0.871	6	0.138	0.065	3197	2262	1520	0	0	0	0	0	0
10896	end climb: NO_VERTICAL_VELOCITY
state	10896	begin surface