Glider dive log

ITOP Sep10 * SG166 * Dive index * Mission links * Dive 460 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HD_C 9.8500004e-06 ROLL_MIN 197 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_MAX 3786 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 460 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 467 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1800 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1750 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 3

D_NO_BLEED 50 SM_CC 400 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 40 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.7

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 455 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3072 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 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 20 LOGGERDEVICE4 -1

USE_BATHY -5 T_GPS_CHARGE -22163.287 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 160 FG_AHR_10V 9 SIM_W 0

MAX_BUOY 220 PITCH_MAX 3938 FG_AHR_24V 22 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2840 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043148831

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -27.567585 SEABIRD_T_H 0.00063078973

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_I 2.2916694e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2962076e-06

MASS 51913 PITCH_GAIN 22 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9893045

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1222894

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0015891744

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00020161238

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 50 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 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.015 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 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3938 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 9 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 22 PITCH_MIN 160 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 0.0001160501 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -27.567585 T_DIVE 240

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 -22163.287

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 0 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 166 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 2.7 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2840 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_ROLL_CLIMB 1750 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1800 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -5

C_VBD 3072 LOGGERDEVICE3 -1 ROLL_MAX 3786 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 197 VBD_CNV -0.24529999

DEVICE1 2 MASS 51913 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 53 MAX_BUOY 220 R_PORT_OVSHOOT 35 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 40 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9893045 VBD_MIN 455

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1222894 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0015891744 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 460 NAV_MODE 2 SEABIRD_C_J 0.00020161238 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 467 SEABIRD_T_G 0.0043148831 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00063078973 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2916694e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.2962076e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 071110,030507,2113.986,12600.948,41,0.9,41,-2.8 TGT_NAME PICKUP_SOUTH

_CALLS 2 TGT_LATLONG 2118.900,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071110,031638,2113.894,12600.929,13,1.1,13,-2.8 MHEAD_RNG_PITCHd_Wd 17.3,9282,-19.7,-13.889

SPEED_LIMITS 0.241,0.344 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.0,1.012456 _10V_AH 10.1,55.434

SM_CCo 13047,0.00,0.000,0,0,512,627.97 FG_AHR_24Vo 22.000

SM_GC 1.78,7.95,0.00,0.00,0.040,0.000,0.000,158,1753,512,-8.34,-1.33,627.97 FG_AHR_10Vo 9.000

IRIDIUM_FIX 2106.38,12603.17,071110,030351 MEM 333740

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73394,1225

HUMID 44.01 CAP_FILE_SIZE 143134,0

INTERNAL_PRESSURE 8.65726 CFSIZE 260165632,151597056

TCM_TEMP 24.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 84 CURRENT 0.074,208.1,1

_24V_AH 22.2,87.855 GPS 071110,065536,2115.691,12601.400,32,0.9,32,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 220 111.03 SBE_CT 834 24 444.66

Roll_motor 95 117 249.32 AA3830 1052 33 771.12

VBD_pump_during_apogee 760 1448 24453.20 WL_BB2F 1344 105 3133.16

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 0 0.00 nil 0 0 0.00

Iridium_during_connect 66 0 0.00 nil 0 0 0.00

Iridium_during_xfer 294 0 0.00 nil 0 0 0.00

Transponder_ping 21 420 195.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 0 0.00

TT8 2960 19 592.06

LPSleep 6504 2 143.88

TT8_Active 777 19 155.42

TT8_Sampling 3058 39 1229.57

TT8_CF8 421 45 195.14

TT8_Kalman 0 0 0.00

Analog_circuits 1927 12 233.62

GPS_charging 0 0 0.00

Compass 2632 15 398.78

RAFOS 0 0 0.00

Transponder 1 5 0.06

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 -1.16 -214.1 0.0 0.0 0 91 0.00 0.00 -72.90 0.000 2 0.000 0.000 167 1804 3330 0 0 0 0 0 0

94 -1.16 -214.1 5.8 -11.5 10 125 9.18 2.20 -11.77 0.000 4 0.220 0.059 2449 3204 3948 0 0 0 0 0 0

230 -0.92 -214.1 62.2 -37.1 33 238 0.28 2.15 0.00 0.000 6 0.174 0.033 2536 1791 3951 0 0 0 0 0 0

555 -0.78 -214.1 157.7 -23.3 94 564 0.17 2.17 0.00 0.000 4 0.174 0.044 2588 398 3952 0 0 0 0 0 0

650 -0.72 -214.1 177.9 -21.5 110 658 0.00 2.15 0.00 0.000 6 0.000 0.039 2579 1796 3953 0 0 0 0 0 0

991 -0.68 -214.1 239.0 -17.7 171 997 0.15 0.00 0.00 0.000 6 0.173 0.000 2620 1796 3955 0 0 0 0 0 0

1330 -0.72 -214.1 282.8 -11.6 232 1338 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 1796 3955 0 0 0 0 0 0

1665 -0.78 -214.1 321.3 -11.7 276 1666 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 1796 3954 0 0 0 0 0 0

1983 -0.85 -214.1 357.0 -10.2 306 1988 0.15 2.17 0.00 0.000 4 0.081 0.047 2525 3208 3953 0 0 0 0 0 0

2026 -0.85 -214.1 362.5 -14.4 309 2031 0.15 2.10 0.00 0.000 6 0.160 0.033 2565 1796 3953 0 0 0 0 0 0

2353 -0.87 -214.1 404.4 -13.1 339 2357 0.00 2.12 0.00 0.000 4 0.000 0.046 2565 399 3951 0 0 0 0 0 0

2410 -0.90 -214.1 412.6 -13.9 343 2417 0.00 2.15 0.00 0.000 6 0.000 0.041 2562 1807 3951 0 0 0 0 0 0

2737 -0.92 -214.1 456.8 -13.3 374 2741 0.00 2.12 0.00 0.000 4 0.000 0.047 2554 3218 3950 0 0 0 0 0 0

2760 -0.96 -214.1 460.0 -13.6 375 2767 0.00 2.12 0.00 0.000 6 0.000 0.034 2553 1791 3949 0 0 0 0 0 0

3087 -0.96 -214.1 503.9 -12.8 406 3088 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1791 3948 0 0 0 0 0 0

3407 -0.98 -214.1 544.7 -13.4 436 3414 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1791 3945 0 0 0 0 0 0

3735 -1.00 -214.1 587.9 -12.8 467 3741 0.10 0.00 0.00 0.000 6 0.104 0.000 2500 1791 3942 0 0 0 0 0 0

4065 -0.95 -214.1 641.7 -16.1 487 4067 0.12 0.00 0.00 0.000 6 0.182 0.000 2532 1790 3940 0 0 0 0 0 0

4373 -0.95 -214.1 683.5 -13.3 502 4374 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 1791 3937 0 0 0 0 0 0

4684 -0.95 -214.1 726.4 -14.1 517 4685 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 1790 3934 0 0 0 0 0 0

4991 -0.95 -214.1 770.5 -14.4 532 4993 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1790 3931 0 0 0 0 0 0

5301 -0.95 -214.1 814.9 -14.3 547 5302 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1790 3928 0 0 0 0 0 0

5613 -0.95 -214.1 857.5 -13.3 562 5617 0.00 2.17 0.00 0.000 4 0.000 0.055 2535 401 3926 0 0 0 0 0 0

5669 -0.96 -214.1 865.9 -13.9 564 5677 0.00 2.20 0.00 0.000 6 0.000 0.050 2540 1804 3925 0 0 0 0 0 0

5985 -0.96 -214.1 908.7 -13.5 580 5989 0.00 2.17 0.00 0.000 4 0.000 0.057 2530 3205 3922 0 0 0 0 0 0

6009 -0.96 -214.1 911.9 -13.5 581 6013 0.00 2.12 0.00 0.000 6 0.000 0.041 2530 1802 3922 0 0 0 0 0 0

6331 -0.96 -214.1 955.0 -13.4 597 6335 0.00 2.20 0.00 0.000 4 0.000 0.057 2529 395 3920 0 0 0 0 0 0

6382 -0.96 -214.1 962.4 -14.2 599 6386 0.00 2.20 0.00 0.000 6 0.000 0.050 2520 1805 3919 0 0 0 0 0 0

6660 end dive: TARGET_DEPTH_EXCEEDED

state 6660 begin apogee

6666 -0.23 0.0 1001.8 14.0 613 6859 0.77 0.00 186.10 1.448 6 0.144 0.000 2758 1747 3072 0 0 0 0 0 0

6859 end apogee: CONTROL_FINISHED_OK

state 6860 begin climb

6862 1.16 214.1 1010.2 0.0 622 7069 1.33 0.00 202.65 1.374 6 0.058 0.000 3217 1747 2199 0 0 0 0 0 0

7369 0.83 214.1 887.1 30.4 647 7374 0.38 2.25 0.00 0.000 4 0.209 0.056 3106 3157 2192 0 0 0 0 0 0

7414 0.65 214.1 875.0 22.6 649 7419 0.25 2.17 0.00 0.000 6 0.188 0.043 3050 1749 2190 0 0 0 0 0 0

7737 0.54 214.1 819.8 17.1 665 7742 0.12 2.20 0.00 0.000 4 0.182 0.057 3024 346 2189 0 0 0 0 0 0

7792 0.48 214.1 810.4 15.3 667 7799 0.00 2.17 0.00 0.000 6 0.000 0.046 3025 1753 2188 0 0 0 0 0 0

8109 0.41 214.1 764.6 14.5 683 8113 0.17 2.17 0.00 0.000 4 0.171 0.054 2968 3173 2187 0 0 0 0 0 0

8151 0.51 277.3 759.7 11.1 685 8216 0.00 2.17 58.12 1.278 6 0.000 0.042 2976 1748 1941 0 0 0 0 0 0

8524 0.63 345.7 718.4 10.9 703 8594 0.17 2.28 63.62 1.242 4 0.073 0.055 3070 346 1662 0 0 0 0 0 0

8648 0.56 345.7 695.3 20.9 708 8656 0.17 2.20 0.00 0.000 6 0.171 0.044 3021 1754 1659 0 0 0 0 0 0

8965 0.56 345.7 644.1 15.8 724 8969 0.00 2.17 0.00 0.000 4 0.000 0.054 3022 3171 1656 0 0 0 0 0 0

9015 0.58 345.7 635.7 15.4 726 9019 0.00 2.15 0.00 0.000 6 0.000 0.043 3030 1752 1655 0 0 0 0 0 0

9335 0.56 345.7 585.1 15.9 745 9339 0.00 2.17 0.00 0.000 4 0.000 0.056 3041 347 1654 0 0 0 0 0 0

9380 0.56 345.7 577.6 16.6 748 9388 0.00 2.17 0.00 0.000 6 0.000 0.042 3041 1764 1652 0 0 0 0 0 0

9707 0.52 345.7 524.8 15.8 779 9712 0.12 2.12 0.00 0.000 4 0.173 0.050 3004 3163 1652 0 0 0 0 0 0

9741 0.52 345.7 520.3 14.5 781 9745 0.00 2.15 0.00 0.000 6 0.000 0.042 3012 1743 1651 0 0 0 0 0 0

10069 0.56 358.7 476.0 13.3 811 10085 0.00 2.20 11.55 1.014 4 0.000 0.054 3023 348 1609 0 0 0 0 0 0

10111 0.62 385.7 470.5 12.7 814 10148 0.00 2.17 26.40 1.063 6 0.000 0.040 3023 1760 1498 0 0 0 0 0 0

10467 0.66 395.9 420.9 13.4 847 10482 0.00 2.17 10.30 0.943 4 0.000 0.057 3023 3166 1458 0 0 0 0 0 0

10505 0.71 404.3 414.9 13.5 850 10524 0.08 2.20 9.68 0.916 6 0.051 0.041 3088 1751 1423 0 0 0 0 0 0

10844 0.63 404.3 346.8 20.9 882 10848 0.17 2.22 0.00 0.000 4 0.174 0.055 3050 338 1420 0 0 0 0 0 0

10916 0.66 404.3 333.8 13.9 888 10925 0.00 2.17 0.00 0.000 6 0.000 0.037 3051 1749 1419 0 0 0 0 0 0

11248 0.66 404.3 285.9 14.6 927 11255 0.00 2.12 0.00 0.000 4 0.000 0.047 3051 3158 1419 0 0 0 0 0 0

11297 0.71 416.5 279.0 13.4 935 11318 0.00 2.15 11.93 0.848 6 0.000 0.039 3060 1741 1374 0 0 0 0 0 0

11653 0.72 430.3 229.2 13.3 998 11675 0.00 2.20 14.30 0.815 4 0.000 0.052 3071 347 1317 0 0 0 0 0 0

11738 0.76 430.3 216.6 14.4 1012 11747 0.00 2.17 0.00 0.000 6 0.000 0.037 3071 1755 1315 0 0 0 0 0 0

12083 0.84 469.3 168.1 12.2 1073 12125 0.12 2.33 34.60 0.794 4 0.083 0.053 3151 340 1158 0 0 0 0 0 0

12185 0.76 469.3 147.9 23.0 1089 12194 0.20 2.17 0.00 0.000 6 0.146 0.037 3088 1748 1157 0 0 0 0 0 0

12518 1.06 625.6 104.5 7.1 1150 12665 0.25 2.25 131.38 0.721 4 0.054 0.042 3207 3156 517 0 0 0 0 0 0

12699 1.01 625.6 59.9 26.9 1175 12708 0.12 2.20 0.00 0.000 6 0.151 0.038 3170 1754 515 0 0 0 0 0 0

12957 end climb: SURFACE_DEPTH_REACHED

state 12958 begin surface coast

12970 end surface coast: CONTROL_FINISHED_OK

state 12970 begin surface

ID	166	HD_C	9.8500004e-06	ROLL_MIN	197	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3786	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	460	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	467	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1800	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1750	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	3
D_NO_BLEED	50	SM_CC	400	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	40	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.7
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	455	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3072	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	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	20	LOGGERDEVICE4	-1
USE_BATHY	-5	T_GPS_CHARGE	-22163.287	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	160	FG_AHR_10V	9	SIM_W	0
MAX_BUOY	220	PITCH_MAX	3938	FG_AHR_24V	22	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2840	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043148831
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-27.567585	SEABIRD_T_H	0.00063078973
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_I	2.2916694e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2962076e-06
MASS	51913	PITCH_GAIN	22	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9893045
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1222894
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0015891744
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00020161238
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	071110,030507,2113.986,12600.948,41,0.9,41,-2.8	TGT_NAME	PICKUP_SOUTH
_CALLS	2	TGT_LATLONG	2118.900,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071110,031638,2113.894,12600.929,13,1.1,13,-2.8	MHEAD_RNG_PITCHd_Wd	17.3,9282,-19.7,-13.889
SPEED_LIMITS	0.241,0.344	D_GRID	1000

FINISH	1.0,1.012456	_10V_AH	10.1,55.434
SM_CCo	13047,0.00,0.000,0,0,512,627.97	FG_AHR_24Vo	22.000
SM_GC	1.78,7.95,0.00,0.00,0.040,0.000,0.000,158,1753,512,-8.34,-1.33,627.97	FG_AHR_10Vo	9.000
IRIDIUM_FIX	2106.38,12603.17,071110,030351	MEM	333740
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73394,1225
HUMID	44.01	CAP_FILE_SIZE	143134,0
INTERNAL_PRESSURE	8.65726	CFSIZE	260165632,151597056
TCM_TEMP	24.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	84	CURRENT	0.074,208.1,1
_24V_AH	22.2,87.855	GPS	071110,065536,2115.691,12601.400,32,0.9,32,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	220	111.03	SBE_CT	834	24	444.66
Roll_motor	95	117	249.32	AA3830	1052	33	771.12
VBD_pump_during_apogee	760	1448	24453.20	WL_BB2F	1344	105	3133.16
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	0	0.00	nil	0	0	0.00
Iridium_during_connect	66	0	0.00	nil	0	0	0.00
Iridium_during_xfer	294	0	0.00	nil	0	0	0.00
Transponder_ping	21	420	195.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	0	0.00
TT8	2960	19	592.06
LPSleep	6504	2	143.88
TT8_Active	777	19	155.42
TT8_Sampling	3058	39	1229.57
TT8_CF8	421	45	195.14
TT8_Kalman	0	0	0.00
Analog_circuits	1927	12	233.62
GPS_charging	0	0	0.00
Compass	2632	15	398.78
RAFOS	0	0	0.00
Transponder	1	5	0.06

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	-1.16	-214.1	0.0	0.0	0	91	0.00	0.00	-72.90	0.000	2	0.000	0.000	167	1804	3330	0	0	0	0	0	0
94	-1.16	-214.1	5.8	-11.5	10	125	9.18	2.20	-11.77	0.000	4	0.220	0.059	2449	3204	3948	0	0	0	0	0	0
230	-0.92	-214.1	62.2	-37.1	33	238	0.28	2.15	0.00	0.000	6	0.174	0.033	2536	1791	3951	0	0	0	0	0	0
555	-0.78	-214.1	157.7	-23.3	94	564	0.17	2.17	0.00	0.000	4	0.174	0.044	2588	398	3952	0	0	0	0	0	0
650	-0.72	-214.1	177.9	-21.5	110	658	0.00	2.15	0.00	0.000	6	0.000	0.039	2579	1796	3953	0	0	0	0	0	0
991	-0.68	-214.1	239.0	-17.7	171	997	0.15	0.00	0.00	0.000	6	0.173	0.000	2620	1796	3955	0	0	0	0	0	0
1330	-0.72	-214.1	282.8	-11.6	232	1338	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	1796	3955	0	0	0	0	0	0
1665	-0.78	-214.1	321.3	-11.7	276	1666	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	1796	3954	0	0	0	0	0	0
1983	-0.85	-214.1	357.0	-10.2	306	1988	0.15	2.17	0.00	0.000	4	0.081	0.047	2525	3208	3953	0	0	0	0	0	0
2026	-0.85	-214.1	362.5	-14.4	309	2031	0.15	2.10	0.00	0.000	6	0.160	0.033	2565	1796	3953	0	0	0	0	0	0
2353	-0.87	-214.1	404.4	-13.1	339	2357	0.00	2.12	0.00	0.000	4	0.000	0.046	2565	399	3951	0	0	0	0	0	0
2410	-0.90	-214.1	412.6	-13.9	343	2417	0.00	2.15	0.00	0.000	6	0.000	0.041	2562	1807	3951	0	0	0	0	0	0
2737	-0.92	-214.1	456.8	-13.3	374	2741	0.00	2.12	0.00	0.000	4	0.000	0.047	2554	3218	3950	0	0	0	0	0	0
2760	-0.96	-214.1	460.0	-13.6	375	2767	0.00	2.12	0.00	0.000	6	0.000	0.034	2553	1791	3949	0	0	0	0	0	0
3087	-0.96	-214.1	503.9	-12.8	406	3088	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1791	3948	0	0	0	0	0	0
3407	-0.98	-214.1	544.7	-13.4	436	3414	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1791	3945	0	0	0	0	0	0
3735	-1.00	-214.1	587.9	-12.8	467	3741	0.10	0.00	0.00	0.000	6	0.104	0.000	2500	1791	3942	0	0	0	0	0	0
4065	-0.95	-214.1	641.7	-16.1	487	4067	0.12	0.00	0.00	0.000	6	0.182	0.000	2532	1790	3940	0	0	0	0	0	0
4373	-0.95	-214.1	683.5	-13.3	502	4374	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	1791	3937	0	0	0	0	0	0
4684	-0.95	-214.1	726.4	-14.1	517	4685	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	1790	3934	0	0	0	0	0	0
4991	-0.95	-214.1	770.5	-14.4	532	4993	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	1790	3931	0	0	0	0	0	0
5301	-0.95	-214.1	814.9	-14.3	547	5302	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1790	3928	0	0	0	0	0	0
5613	-0.95	-214.1	857.5	-13.3	562	5617	0.00	2.17	0.00	0.000	4	0.000	0.055	2535	401	3926	0	0	0	0	0	0
5669	-0.96	-214.1	865.9	-13.9	564	5677	0.00	2.20	0.00	0.000	6	0.000	0.050	2540	1804	3925	0	0	0	0	0	0
5985	-0.96	-214.1	908.7	-13.5	580	5989	0.00	2.17	0.00	0.000	4	0.000	0.057	2530	3205	3922	0	0	0	0	0	0
6009	-0.96	-214.1	911.9	-13.5	581	6013	0.00	2.12	0.00	0.000	6	0.000	0.041	2530	1802	3922	0	0	0	0	0	0
6331	-0.96	-214.1	955.0	-13.4	597	6335	0.00	2.20	0.00	0.000	4	0.000	0.057	2529	395	3920	0	0	0	0	0	0
6382	-0.96	-214.1	962.4	-14.2	599	6386	0.00	2.20	0.00	0.000	6	0.000	0.050	2520	1805	3919	0	0	0	0	0	0
6660	end dive: TARGET_DEPTH_EXCEEDED
state	6660	begin apogee
6666	-0.23	0.0	1001.8	14.0	613	6859	0.77	0.00	186.10	1.448	6	0.144	0.000	2758	1747	3072	0	0	0	0	0	0
6859	end apogee: CONTROL_FINISHED_OK
state	6860	begin climb
6862	1.16	214.1	1010.2	0.0	622	7069	1.33	0.00	202.65	1.374	6	0.058	0.000	3217	1747	2199	0	0	0	0	0	0
7369	0.83	214.1	887.1	30.4	647	7374	0.38	2.25	0.00	0.000	4	0.209	0.056	3106	3157	2192	0	0	0	0	0	0
7414	0.65	214.1	875.0	22.6	649	7419	0.25	2.17	0.00	0.000	6	0.188	0.043	3050	1749	2190	0	0	0	0	0	0
7737	0.54	214.1	819.8	17.1	665	7742	0.12	2.20	0.00	0.000	4	0.182	0.057	3024	346	2189	0	0	0	0	0	0
7792	0.48	214.1	810.4	15.3	667	7799	0.00	2.17	0.00	0.000	6	0.000	0.046	3025	1753	2188	0	0	0	0	0	0
8109	0.41	214.1	764.6	14.5	683	8113	0.17	2.17	0.00	0.000	4	0.171	0.054	2968	3173	2187	0	0	0	0	0	0
8151	0.51	277.3	759.7	11.1	685	8216	0.00	2.17	58.12	1.278	6	0.000	0.042	2976	1748	1941	0	0	0	0	0	0
8524	0.63	345.7	718.4	10.9	703	8594	0.17	2.28	63.62	1.242	4	0.073	0.055	3070	346	1662	0	0	0	0	0	0
8648	0.56	345.7	695.3	20.9	708	8656	0.17	2.20	0.00	0.000	6	0.171	0.044	3021	1754	1659	0	0	0	0	0	0
8965	0.56	345.7	644.1	15.8	724	8969	0.00	2.17	0.00	0.000	4	0.000	0.054	3022	3171	1656	0	0	0	0	0	0
9015	0.58	345.7	635.7	15.4	726	9019	0.00	2.15	0.00	0.000	6	0.000	0.043	3030	1752	1655	0	0	0	0	0	0
9335	0.56	345.7	585.1	15.9	745	9339	0.00	2.17	0.00	0.000	4	0.000	0.056	3041	347	1654	0	0	0	0	0	0
9380	0.56	345.7	577.6	16.6	748	9388	0.00	2.17	0.00	0.000	6	0.000	0.042	3041	1764	1652	0	0	0	0	0	0
9707	0.52	345.7	524.8	15.8	779	9712	0.12	2.12	0.00	0.000	4	0.173	0.050	3004	3163	1652	0	0	0	0	0	0
9741	0.52	345.7	520.3	14.5	781	9745	0.00	2.15	0.00	0.000	6	0.000	0.042	3012	1743	1651	0	0	0	0	0	0
10069	0.56	358.7	476.0	13.3	811	10085	0.00	2.20	11.55	1.014	4	0.000	0.054	3023	348	1609	0	0	0	0	0	0
10111	0.62	385.7	470.5	12.7	814	10148	0.00	2.17	26.40	1.063	6	0.000	0.040	3023	1760	1498	0	0	0	0	0	0
10467	0.66	395.9	420.9	13.4	847	10482	0.00	2.17	10.30	0.943	4	0.000	0.057	3023	3166	1458	0	0	0	0	0	0
10505	0.71	404.3	414.9	13.5	850	10524	0.08	2.20	9.68	0.916	6	0.051	0.041	3088	1751	1423	0	0	0	0	0	0
10844	0.63	404.3	346.8	20.9	882	10848	0.17	2.22	0.00	0.000	4	0.174	0.055	3050	338	1420	0	0	0	0	0	0
10916	0.66	404.3	333.8	13.9	888	10925	0.00	2.17	0.00	0.000	6	0.000	0.037	3051	1749	1419	0	0	0	0	0	0
11248	0.66	404.3	285.9	14.6	927	11255	0.00	2.12	0.00	0.000	4	0.000	0.047	3051	3158	1419	0	0	0	0	0	0
11297	0.71	416.5	279.0	13.4	935	11318	0.00	2.15	11.93	0.848	6	0.000	0.039	3060	1741	1374	0	0	0	0	0	0
11653	0.72	430.3	229.2	13.3	998	11675	0.00	2.20	14.30	0.815	4	0.000	0.052	3071	347	1317	0	0	0	0	0	0
11738	0.76	430.3	216.6	14.4	1012	11747	0.00	2.17	0.00	0.000	6	0.000	0.037	3071	1755	1315	0	0	0	0	0	0
12083	0.84	469.3	168.1	12.2	1073	12125	0.12	2.33	34.60	0.794	4	0.083	0.053	3151	340	1158	0	0	0	0	0	0
12185	0.76	469.3	147.9	23.0	1089	12194	0.20	2.17	0.00	0.000	6	0.146	0.037	3088	1748	1157	0	0	0	0	0	0
12518	1.06	625.6	104.5	7.1	1150	12665	0.25	2.25	131.38	0.721	4	0.054	0.042	3207	3156	517	0	0	0	0	0	0
12699	1.01	625.6	59.9	26.9	1175	12708	0.12	2.20	0.00	0.000	6	0.151	0.038	3170	1754	515	0	0	0	0	0	0
12957	end climb: SURFACE_DEPTH_REACHED
state	12958	begin surface coast
12970	end surface coast: CONTROL_FINISHED_OK
state	12970	begin surface