Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 687 * 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 687 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 18 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 18 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 -50107.605 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 -50107.605

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 18 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 18 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 687 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 250511,082722,6650.416,-6012.667,0,6107.5,0,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250511,082722,6650.416,-6012.667,0,6107.5,0,-37.6 MHEAD_RNG_PITCHd_Wd 118.6,149626,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 595

Post-dive calculations and measurements:

FREEZE 3.77,-1.723,-1.772,2,50,2 ALTIM_BOTTOM_PING 550.0,63.7

SM_CCo 10886,111.38,0.891,0,0,750,559.04 _24V_AH 21.0,91.782

SM_GC 4.66,8.73,0.00,0.00,0.086,0.000,0.000,107,2491,733,-8.58,0.03,563.45 _10V_AH 9.8,47.367

RAFOS_CLK 623 FG_AHR_24Vo 0.000

RAFOS 0,1306324871,12.033333,12.019722,128,68,57,54,54,53,599,210,187,223,140,112 FG_AHR_10Vo 0.000

RAFOS_FIX 6650.510742,-6008.575684,250511,121232,6,96,0.21 MEM 150560

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 43343,1122

TT8_MAMPS 0.026215 CAP_FILE_SIZE 138194,0

HUMID 49.13 CFSIZE 260165632,208523264

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 1452.2

XPDR_PINGS 4 GPS 250511,122432,6650.511,-6008.576,0,6095.7,0,-37.6

ALTIM_TOP_PING 19.8,14.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 225 63.86 SBE_CT 804 24 405.50

Roll_motor 131 182 503.26 SBE_O2 852 19 340.23

VBD_pump_during_apogee 419 1306 11496.95 nil 0 0 0.00

VBD_pump_during_surface 111 891 2084.46 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 3 420 26.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2775 19 541.78

LPSleep 6009 2 136.04

TT8_Active 590 19 115.20

TT8_Sampling 1831 39 716.61

TT8_CF8 259 45 116.72

TT8_Kalman 0 0 0.00

Analog_circuits 1605 12 188.75

GPS_charging 0 0 0.00

Compass 1812 15 266.47

RAFOS 2520 1 37.04

Transponder 16 30 4.71

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 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -5.95 0.000 2 0.000 0.000 2897 3692 2899 0 0 0 0 0 0

28 -0.62 -146.0 8.1 -0.0 1 59 0.65 0.40 -24.15 0.000 4 0.094 0.182 2665 3910 3628 0 0 0 0 0 0

269 -0.50 -146.0 52.7 -19.0 43 277 0.15 2.33 0.00 0.000 6 0.226 0.064 2698 2489 3629 0 0 0 0 0 0

617 -0.43 -146.0 113.9 -14.6 97 618 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2489 3630 0 0 0 0 0 0

936 -0.38 -146.0 157.4 -13.8 127 941 0.15 2.38 0.00 0.000 4 0.224 0.080 2734 1068 3629 0 0 0 0 0 0

948 -0.34 -146.0 159.4 -13.8 127 955 0.00 2.40 0.00 0.000 6 0.000 0.078 2734 2486 3629 0 0 0 0 0 0

1274 -0.41 -146.0 188.6 -8.3 158 1278 0.00 2.42 0.00 0.000 4 0.000 0.094 2734 3902 3629 0 0 0 0 0 0

1297 -0.49 -146.0 190.6 -8.6 159 1304 0.00 2.30 0.00 0.000 6 0.000 0.066 2734 2489 3628 0 0 0 0 0 0

1623 -0.57 -146.0 220.7 -9.8 190 1628 0.17 2.38 0.00 0.000 4 0.119 0.081 2674 1076 3628 0 0 0 0 0 0

1639 -0.61 -146.0 222.7 -10.7 191 1646 0.00 2.40 0.00 0.000 6 0.000 0.079 2674 2489 3628 0 0 0 0 0 0

1965 -0.54 -146.0 267.3 -13.2 222 1969 0.00 2.45 0.00 0.000 4 0.000 0.095 2674 3908 3628 0 0 0 0 0 0

1995 -0.47 -146.0 270.9 -13.1 224 2000 0.15 2.35 0.00 0.000 6 0.206 0.066 2708 2483 3628 0 0 0 0 0 0

2321 -0.51 -146.0 299.6 -8.4 254 2328 0.00 2.35 0.00 0.000 4 0.000 0.080 2709 1072 3628 0 0 0 0 0 0

2336 -0.54 -146.0 300.8 -8.3 255 2340 0.00 2.40 0.00 0.000 6 0.000 0.078 2709 2492 3628 0 0 0 0 0 0

2662 -0.58 -146.0 329.1 -8.9 285 2667 0.00 2.42 0.00 0.000 4 0.000 0.094 2709 3912 3628 0 0 0 0 0 0

2685 -0.63 -146.0 331.2 -8.4 286 2692 0.15 2.35 0.00 0.000 6 0.119 0.066 2659 2487 3628 0 0 0 0 0 0

3011 -0.55 -146.0 372.4 -12.7 317 3015 0.00 2.33 0.00 0.000 4 0.000 0.079 2659 1077 3627 0 0 0 0 0 0

3032 -0.46 -146.0 375.6 -13.7 318 3040 0.20 2.40 0.00 0.000 6 0.209 0.078 2706 2495 3627 0 0 0 0 0 0

3359 -0.51 -146.0 406.2 -9.4 349 3363 0.00 2.42 0.00 0.000 4 0.000 0.093 2706 3903 3628 0 0 0 0 0 0

3400 -0.58 -146.0 410.1 -9.8 352 3404 0.00 2.30 0.00 0.000 6 0.000 0.064 2706 2489 3627 0 0 0 0 0 0

3726 -0.63 -146.0 440.3 -9.5 382 3730 0.15 2.38 0.00 0.000 4 0.121 0.078 2655 1076 3628 0 0 0 0 0 0

3760 -0.58 -146.0 444.4 -13.3 385 3765 0.00 2.38 0.00 0.000 6 0.000 0.076 2654 2490 3627 0 0 0 0 0 0

4092 -0.50 -146.0 487.5 -12.6 416 4097 0.17 2.42 0.00 0.000 4 0.206 0.092 2697 3900 3628 0 0 0 0 0 0

4133 -0.56 -146.0 491.6 -8.6 419 4137 0.00 2.30 0.00 0.000 6 0.000 0.063 2697 2484 3628 0 0 0 0 0 0

4459 -0.60 -146.0 518.1 -7.9 449 4463 0.00 2.33 0.00 0.000 4 0.000 0.077 2698 1070 3628 0 0 0 0 0 0

4489 -0.64 -146.0 520.5 -8.5 451 4494 0.12 2.38 0.00 0.000 6 0.128 0.075 2656 2496 3629 0 0 0 0 0 0

4815 -0.57 -146.0 557.9 -12.5 481 4819 0.00 2.40 0.00 0.000 4 0.000 0.091 2656 3905 3628 0 0 0 0 0 0

4847 -0.53 -146.0 562.1 -11.8 483 4855 0.12 2.33 0.00 0.000 6 0.197 0.063 2685 2488 3628 0 0 0 0 0 0

5173 -0.53 -146.0 593.3 -9.6 514 5177 0.00 2.33 0.00 0.000 4 0.000 0.077 2685 1074 3629 0 0 0 0 0 0

5192 end dive: TARGET_DEPTH_EXCEEDED

state 5192 begin apogee

5201 -0.12 0.0 595.5 9.4 515 5339 0.45 0.00 127.03 1.307 6 0.187 0.000 2813 2275 3030 0 0 0 0 0 0

5339 end apogee: CONTROL_FINISHED_OK

state 5339 begin climb

5342 0.62 146.0 599.2 0.0 528 5487 0.82 2.75 134.77 1.259 4 0.147 0.080 3062 864 2433 0 0 0 0 0 0

5527 0.60 156.9 589.0 9.5 544 5545 0.00 2.62 11.45 1.092 6 0.000 0.069 3062 2280 2390 0 0 0 0 0 0

5864 0.57 156.9 554.2 10.6 576 5868 0.00 2.40 0.00 0.000 4 0.000 0.086 3062 3693 2385 0 0 0 0 0 0

5904 0.50 156.9 549.5 12.7 579 5909 0.17 2.40 0.00 0.000 6 0.183 0.070 3029 2267 2385 0 0 0 0 0 0

6230 0.57 195.3 521.9 8.2 609 6274 0.00 2.47 34.45 1.195 4 0.000 0.084 3037 858 2232 0 0 0 0 0 0

6299 0.66 220.5 515.8 8.8 615 6334 0.12 2.38 24.12 1.164 6 0.111 0.072 3092 2276 2131 0 0 0 0 0 0

6652 0.61 220.5 469.0 13.7 648 6656 0.00 2.38 0.00 0.000 4 0.000 0.086 3092 3699 2125 0 0 0 0 0 0

6727 0.51 220.5 457.3 16.5 654 6732 0.28 2.38 0.00 0.000 6 0.195 0.072 3031 2273 2124 0 0 0 0 0 0

7053 0.59 233.9 425.2 9.4 684 7075 0.00 2.42 12.40 1.082 4 0.000 0.084 3040 864 2075 0 0 0 0 0 0

7112 0.70 241.9 419.6 9.6 689 7128 0.15 2.33 9.32 1.033 6 0.104 0.071 3106 2278 2043 0 0 0 0 0 0

7454 0.64 241.9 369.4 13.7 721 7459 0.12 2.38 0.00 0.000 4 0.184 0.086 3075 3688 2039 0 0 0 0 0 0

7529 0.61 241.9 359.2 13.5 727 7533 0.00 2.33 0.00 0.000 6 0.000 0.071 3083 2273 2038 0 0 0 0 0 0

7856 0.58 241.9 320.6 12.3 757 7861 0.12 2.40 0.00 0.000 4 0.190 0.084 3060 857 2038 0 0 0 0 0 0

7908 0.68 265.1 315.4 8.9 761 7935 0.00 2.35 21.77 1.086 6 0.000 0.072 3060 2282 1949 0 0 0 0 0 0

8256 0.76 281.4 281.4 9.2 793 8280 0.12 2.38 16.73 1.052 4 0.104 0.084 3116 3694 1881 0 0 0 0 0 0

8331 0.68 281.4 270.1 16.1 799 8338 0.17 2.38 0.00 0.000 6 0.202 0.072 3085 2271 1879 0 0 0 0 0 0

8657 0.71 281.4 232.1 10.3 830 8661 0.00 2.35 0.00 0.000 4 0.000 0.084 3094 858 1877 0 0 0 0 0 0

8709 0.74 281.4 226.7 10.6 834 8713 0.00 2.35 0.00 0.000 6 0.000 0.071 3093 2284 1875 0 0 0 0 0 0

9035 0.77 281.4 189.7 11.4 864 9039 0.00 2.35 0.00 0.000 4 0.000 0.085 3093 3696 1876 0 0 0 0 0 0

9097 0.77 281.4 181.7 13.1 869 9101 0.00 2.38 0.00 0.000 6 0.000 0.071 3104 2265 1874 0 0 0 0 0 0

9423 0.77 281.4 144.1 11.7 899 9427 0.00 2.35 0.00 0.000 4 0.000 0.086 3111 857 1874 0 0 0 0 0 0

9467 0.81 281.4 138.6 11.6 902 9475 0.00 2.35 0.00 0.000 6 0.000 0.073 3112 2274 1873 0 0 0 0 0 0

9792 0.81 281.4 104.0 11.1 933 9796 0.00 2.38 0.00 0.000 4 0.000 0.087 3112 3693 1873 0 0 0 0 0 0

9872 0.81 281.4 93.8 12.9 943 9879 0.00 2.38 0.00 0.000 6 0.000 0.073 3121 2273 1873 0 0 0 0 0 0

10217 0.81 281.4 58.3 11.0 1004 10224 0.00 2.38 0.00 0.000 4 0.000 0.086 3132 859 1873 0 0 0 0 0 0

10255 0.86 281.4 53.8 12.2 1010 10262 0.00 2.35 0.00 0.000 6 0.000 0.073 3131 2283 1872 0 0 0 0 0 0

10602 0.92 331.6 21.2 7.7 1071 10638 0.00 2.45 26.95 0.986 4 0.000 0.089 3131 3692 1677 0 0 0 0 0 0

10674 0.92 331.6 13.1 12.4 1083 10682 0.00 2.40 0.00 0.000 6 0.000 0.074 3141 2267 1673 0 0 0 0 0 0

10883 end climb: NO_VERTICAL_VELOCITY

state 10883 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	687	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	18	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	18	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	-50107.605	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	250511,082722,6650.416,-6012.667,0,6107.5,0,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250511,082722,6650.416,-6012.667,0,6107.5,0,-37.6	MHEAD_RNG_PITCHd_Wd	118.6,149626,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	595

FREEZE	3.77,-1.723,-1.772,2,50,2	ALTIM_BOTTOM_PING	550.0,63.7
SM_CCo	10886,111.38,0.891,0,0,750,559.04	_24V_AH	21.0,91.782
SM_GC	4.66,8.73,0.00,0.00,0.086,0.000,0.000,107,2491,733,-8.58,0.03,563.45	_10V_AH	9.8,47.367
RAFOS_CLK	623	FG_AHR_24Vo	0.000
RAFOS	0,1306324871,12.033333,12.019722,128,68,57,54,54,53,599,210,187,223,140,112	FG_AHR_10Vo	0.000
RAFOS_FIX	6650.510742,-6008.575684,250511,121232,6,96,0.21	MEM	150560
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	43343,1122
TT8_MAMPS	0.026215	CAP_FILE_SIZE	138194,0
HUMID	49.13	CFSIZE	260165632,208523264
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	1452.2
XPDR_PINGS	4	GPS	250511,122432,6650.511,-6008.576,0,6095.7,0,-37.6
ALTIM_TOP_PING	19.8,14.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	225	63.86	SBE_CT	804	24	405.50
Roll_motor	131	182	503.26	SBE_O2	852	19	340.23
VBD_pump_during_apogee	419	1306	11496.95	nil	0	0	0.00
VBD_pump_during_surface	111	891	2084.46	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	3	420	26.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2775	19	541.78
LPSleep	6009	2	136.04
TT8_Active	590	19	115.20
TT8_Sampling	1831	39	716.61
TT8_CF8	259	45	116.72
TT8_Kalman	0	0	0.00
Analog_circuits	1605	12	188.75
GPS_charging	0	0	0.00
Compass	1812	15	266.47
RAFOS	2520	1	37.04
Transponder	16	30	4.71

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	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-5.95	0.000	2	0.000	0.000	2897	3692	2899	0	0	0	0	0	0
28	-0.62	-146.0	8.1	-0.0	1	59	0.65	0.40	-24.15	0.000	4	0.094	0.182	2665	3910	3628	0	0	0	0	0	0
269	-0.50	-146.0	52.7	-19.0	43	277	0.15	2.33	0.00	0.000	6	0.226	0.064	2698	2489	3629	0	0	0	0	0	0
617	-0.43	-146.0	113.9	-14.6	97	618	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2489	3630	0	0	0	0	0	0
936	-0.38	-146.0	157.4	-13.8	127	941	0.15	2.38	0.00	0.000	4	0.224	0.080	2734	1068	3629	0	0	0	0	0	0
948	-0.34	-146.0	159.4	-13.8	127	955	0.00	2.40	0.00	0.000	6	0.000	0.078	2734	2486	3629	0	0	0	0	0	0
1274	-0.41	-146.0	188.6	-8.3	158	1278	0.00	2.42	0.00	0.000	4	0.000	0.094	2734	3902	3629	0	0	0	0	0	0
1297	-0.49	-146.0	190.6	-8.6	159	1304	0.00	2.30	0.00	0.000	6	0.000	0.066	2734	2489	3628	0	0	0	0	0	0
1623	-0.57	-146.0	220.7	-9.8	190	1628	0.17	2.38	0.00	0.000	4	0.119	0.081	2674	1076	3628	0	0	0	0	0	0
1639	-0.61	-146.0	222.7	-10.7	191	1646	0.00	2.40	0.00	0.000	6	0.000	0.079	2674	2489	3628	0	0	0	0	0	0
1965	-0.54	-146.0	267.3	-13.2	222	1969	0.00	2.45	0.00	0.000	4	0.000	0.095	2674	3908	3628	0	0	0	0	0	0
1995	-0.47	-146.0	270.9	-13.1	224	2000	0.15	2.35	0.00	0.000	6	0.206	0.066	2708	2483	3628	0	0	0	0	0	0
2321	-0.51	-146.0	299.6	-8.4	254	2328	0.00	2.35	0.00	0.000	4	0.000	0.080	2709	1072	3628	0	0	0	0	0	0
2336	-0.54	-146.0	300.8	-8.3	255	2340	0.00	2.40	0.00	0.000	6	0.000	0.078	2709	2492	3628	0	0	0	0	0	0
2662	-0.58	-146.0	329.1	-8.9	285	2667	0.00	2.42	0.00	0.000	4	0.000	0.094	2709	3912	3628	0	0	0	0	0	0
2685	-0.63	-146.0	331.2	-8.4	286	2692	0.15	2.35	0.00	0.000	6	0.119	0.066	2659	2487	3628	0	0	0	0	0	0
3011	-0.55	-146.0	372.4	-12.7	317	3015	0.00	2.33	0.00	0.000	4	0.000	0.079	2659	1077	3627	0	0	0	0	0	0
3032	-0.46	-146.0	375.6	-13.7	318	3040	0.20	2.40	0.00	0.000	6	0.209	0.078	2706	2495	3627	0	0	0	0	0	0
3359	-0.51	-146.0	406.2	-9.4	349	3363	0.00	2.42	0.00	0.000	4	0.000	0.093	2706	3903	3628	0	0	0	0	0	0
3400	-0.58	-146.0	410.1	-9.8	352	3404	0.00	2.30	0.00	0.000	6	0.000	0.064	2706	2489	3627	0	0	0	0	0	0
3726	-0.63	-146.0	440.3	-9.5	382	3730	0.15	2.38	0.00	0.000	4	0.121	0.078	2655	1076	3628	0	0	0	0	0	0
3760	-0.58	-146.0	444.4	-13.3	385	3765	0.00	2.38	0.00	0.000	6	0.000	0.076	2654	2490	3627	0	0	0	0	0	0
4092	-0.50	-146.0	487.5	-12.6	416	4097	0.17	2.42	0.00	0.000	4	0.206	0.092	2697	3900	3628	0	0	0	0	0	0
4133	-0.56	-146.0	491.6	-8.6	419	4137	0.00	2.30	0.00	0.000	6	0.000	0.063	2697	2484	3628	0	0	0	0	0	0
4459	-0.60	-146.0	518.1	-7.9	449	4463	0.00	2.33	0.00	0.000	4	0.000	0.077	2698	1070	3628	0	0	0	0	0	0
4489	-0.64	-146.0	520.5	-8.5	451	4494	0.12	2.38	0.00	0.000	6	0.128	0.075	2656	2496	3629	0	0	0	0	0	0
4815	-0.57	-146.0	557.9	-12.5	481	4819	0.00	2.40	0.00	0.000	4	0.000	0.091	2656	3905	3628	0	0	0	0	0	0
4847	-0.53	-146.0	562.1	-11.8	483	4855	0.12	2.33	0.00	0.000	6	0.197	0.063	2685	2488	3628	0	0	0	0	0	0
5173	-0.53	-146.0	593.3	-9.6	514	5177	0.00	2.33	0.00	0.000	4	0.000	0.077	2685	1074	3629	0	0	0	0	0	0
5192	end dive: TARGET_DEPTH_EXCEEDED
state	5192	begin apogee
5201	-0.12	0.0	595.5	9.4	515	5339	0.45	0.00	127.03	1.307	6	0.187	0.000	2813	2275	3030	0	0	0	0	0	0
5339	end apogee: CONTROL_FINISHED_OK
state	5339	begin climb
5342	0.62	146.0	599.2	0.0	528	5487	0.82	2.75	134.77	1.259	4	0.147	0.080	3062	864	2433	0	0	0	0	0	0
5527	0.60	156.9	589.0	9.5	544	5545	0.00	2.62	11.45	1.092	6	0.000	0.069	3062	2280	2390	0	0	0	0	0	0
5864	0.57	156.9	554.2	10.6	576	5868	0.00	2.40	0.00	0.000	4	0.000	0.086	3062	3693	2385	0	0	0	0	0	0
5904	0.50	156.9	549.5	12.7	579	5909	0.17	2.40	0.00	0.000	6	0.183	0.070	3029	2267	2385	0	0	0	0	0	0
6230	0.57	195.3	521.9	8.2	609	6274	0.00	2.47	34.45	1.195	4	0.000	0.084	3037	858	2232	0	0	0	0	0	0
6299	0.66	220.5	515.8	8.8	615	6334	0.12	2.38	24.12	1.164	6	0.111	0.072	3092	2276	2131	0	0	0	0	0	0
6652	0.61	220.5	469.0	13.7	648	6656	0.00	2.38	0.00	0.000	4	0.000	0.086	3092	3699	2125	0	0	0	0	0	0
6727	0.51	220.5	457.3	16.5	654	6732	0.28	2.38	0.00	0.000	6	0.195	0.072	3031	2273	2124	0	0	0	0	0	0
7053	0.59	233.9	425.2	9.4	684	7075	0.00	2.42	12.40	1.082	4	0.000	0.084	3040	864	2075	0	0	0	0	0	0
7112	0.70	241.9	419.6	9.6	689	7128	0.15	2.33	9.32	1.033	6	0.104	0.071	3106	2278	2043	0	0	0	0	0	0
7454	0.64	241.9	369.4	13.7	721	7459	0.12	2.38	0.00	0.000	4	0.184	0.086	3075	3688	2039	0	0	0	0	0	0
7529	0.61	241.9	359.2	13.5	727	7533	0.00	2.33	0.00	0.000	6	0.000	0.071	3083	2273	2038	0	0	0	0	0	0
7856	0.58	241.9	320.6	12.3	757	7861	0.12	2.40	0.00	0.000	4	0.190	0.084	3060	857	2038	0	0	0	0	0	0
7908	0.68	265.1	315.4	8.9	761	7935	0.00	2.35	21.77	1.086	6	0.000	0.072	3060	2282	1949	0	0	0	0	0	0
8256	0.76	281.4	281.4	9.2	793	8280	0.12	2.38	16.73	1.052	4	0.104	0.084	3116	3694	1881	0	0	0	0	0	0
8331	0.68	281.4	270.1	16.1	799	8338	0.17	2.38	0.00	0.000	6	0.202	0.072	3085	2271	1879	0	0	0	0	0	0
8657	0.71	281.4	232.1	10.3	830	8661	0.00	2.35	0.00	0.000	4	0.000	0.084	3094	858	1877	0	0	0	0	0	0
8709	0.74	281.4	226.7	10.6	834	8713	0.00	2.35	0.00	0.000	6	0.000	0.071	3093	2284	1875	0	0	0	0	0	0
9035	0.77	281.4	189.7	11.4	864	9039	0.00	2.35	0.00	0.000	4	0.000	0.085	3093	3696	1876	0	0	0	0	0	0
9097	0.77	281.4	181.7	13.1	869	9101	0.00	2.38	0.00	0.000	6	0.000	0.071	3104	2265	1874	0	0	0	0	0	0
9423	0.77	281.4	144.1	11.7	899	9427	0.00	2.35	0.00	0.000	4	0.000	0.086	3111	857	1874	0	0	0	0	0	0
9467	0.81	281.4	138.6	11.6	902	9475	0.00	2.35	0.00	0.000	6	0.000	0.073	3112	2274	1873	0	0	0	0	0	0
9792	0.81	281.4	104.0	11.1	933	9796	0.00	2.38	0.00	0.000	4	0.000	0.087	3112	3693	1873	0	0	0	0	0	0
9872	0.81	281.4	93.8	12.9	943	9879	0.00	2.38	0.00	0.000	6	0.000	0.073	3121	2273	1873	0	0	0	0	0	0
10217	0.81	281.4	58.3	11.0	1004	10224	0.00	2.38	0.00	0.000	4	0.000	0.086	3132	859	1873	0	0	0	0	0	0
10255	0.86	281.4	53.8	12.2	1010	10262	0.00	2.35	0.00	0.000	6	0.000	0.073	3131	2283	1872	0	0	0	0	0	0
10602	0.92	331.6	21.2	7.7	1071	10638	0.00	2.45	26.95	0.986	4	0.000	0.089	3131	3692	1677	0	0	0	0	0	0
10674	0.92	331.6	13.1	12.4	1083	10682	0.00	2.40	0.00	0.000	6	0.000	0.074	3141	2267	1673	0	0	0	0	0	0
10883	end climb: NO_VERTICAL_VELOCITY
state	10883	begin surface