Glider dive log

ITOP Sep10 * SG168 * Dive index * Mission links * Dive 470 * 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 470 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 484 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 44 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 -3868.9351 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 -3868.9351

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 32 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 44 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 470 NAV_MODE 2 SEABIRD_C_J 0.00017813468 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 484 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 101110,151631,2121.398,12601.398,10,1.2,10,-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 4.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101110,152333,2121.352,12601.337,13,1.6,13,-2.9 MHEAD_RNG_PITCHd_Wd 350.6,516,-27.7,-13.889

SPEED_LIMITS 0.241,0.322 D_GRID 1000

Post-dive calculations and measurements:

FREEZE 3.42,26.537,-1.403,0,1,0 _10V_AH 10.1,46.575

SM_CCo 11739,97.72,0.490,0,0,414,650.78 FG_AHR_24Vo 0.000

SM_GC 4.13,8.77,0.00,0.00,0.019,0.000,0.000,103,1578,409,-9.70,0.79,652.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12602.66,101110,151541 MEM 334064

TT8_MAMPS 0.026964 DATA_FILE_SIZE 67020,1190

HUMID 45.86 CAP_FILE_SIZE 149572,0

INTERNAL_PRESSURE 9.44372 CFSIZE 260165632,224702464

TCM_TEMP 25.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 5 CURRENT 0.055,117.9,1

_24V_AH 23.4,65.912 GPS 101110,184637,2122.974,12601.243,45,1.1,46,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 201 109.11 SBE_CT 807 24 453.71

Roll_motor 109 67 172.49 AA4330 0 0 0.00

VBD_pump_during_apogee 473 1208 13387.33 WL_BB2F 0 0 0.00

VBD_pump_during_surface 97 489 1119.60 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 1 420 12.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 0 0.00

TT8 2905 19 581.08

LPSleep 6430 2 142.23

TT8_Active 669 19 133.84

TT8_Sampling 1954 39 785.68

TT8_CF8 191 45 88.67

TT8_Kalman 0 0 0.00

Analog_circuits 1731 12 209.83

GPS_charging 0 0 0.00

Compass 1928 15 292.14

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

16 -0.74 -102.9 0.0 0.0 0 24 0.00 0.00 -6.55 0.000 2 0.000 0.000 124 1539 623 0 0 0 0 0 0

27 -0.84 -185.1 4.4 -0.0 1 153 9.50 2.25 -107.00 0.000 4 0.164 0.057 2972 2948 3824 0 0 0 0 0 0

257 -0.86 -185.1 34.4 -22.2 39 263 0.00 2.17 0.00 0.000 6 0.000 0.048 2972 1552 3825 0 0 0 0 0 0

600 -0.83 -185.1 148.1 -29.2 100 607 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 1551 3825 0 0 0 0 0 0

944 -0.83 -185.1 231.9 -24.2 161 950 0.00 2.17 0.00 0.000 4 0.000 0.051 2972 155 3826 0 0 0 0 0 0

979 -0.83 -185.1 240.6 -24.8 167 987 0.10 2.10 0.00 0.000 6 0.181 0.039 2990 1549 3826 0 0 0 0 0 0

1321 -0.85 -185.1 304.4 -18.5 226 1325 0.00 2.17 0.00 0.000 4 0.000 0.051 2990 155 3825 0 0 0 0 0 0

1339 -0.87 -185.1 307.8 -18.2 227 1343 0.00 2.10 0.00 0.000 6 0.000 0.037 2981 1552 3826 0 0 0 0 0 0

1670 -0.90 -185.1 367.0 -16.9 258 1675 0.08 2.17 0.00 0.000 4 0.121 0.045 2845 2964 3824 0 0 0 0 0 0

1714 -0.87 -185.1 377.2 -24.0 261 1722 0.40 2.17 0.00 0.000 6 0.113 0.044 2981 1547 3824 0 0 0 0 0 0

2040 -0.90 -185.1 434.8 -17.3 292 2041 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1547 3822 0 0 0 0 0 0

2359 -0.94 -185.1 488.0 -16.2 322 2361 0.10 0.00 0.00 0.000 6 0.092 0.000 2854 1546 3820 0 0 0 0 0 0

2676 -0.90 -185.1 571.8 -25.2 352 2681 0.32 2.20 0.00 0.000 4 0.121 0.043 2956 2957 3817 0 0 0 0 0 0

2727 -0.95 -185.1 580.7 -13.6 356 2731 0.00 2.17 0.00 0.000 6 0.000 0.046 2956 1554 3817 0 0 0 0 0 0

3049 -0.99 -185.1 626.6 -14.2 377 3054 0.08 2.20 0.00 0.000 4 0.122 0.057 2834 169 3814 0 0 0 0 0 0

3068 -0.99 -185.1 630.0 -15.0 378 3073 0.35 2.10 0.00 0.000 6 0.129 0.041 2939 1557 3814 0 0 0 0 0 0

3397 -1.01 -185.1 685.1 -16.0 394 3401 0.00 2.15 0.00 0.000 4 0.000 0.047 2928 2961 3810 0 0 0 0 0 0

3430 -1.04 -185.1 690.8 -15.2 395 3436 0.00 2.17 0.00 0.000 6 0.000 0.047 2928 1559 3810 0 0 0 0 0 0

3746 -1.06 -185.1 745.0 -17.3 411 3750 0.08 2.20 0.00 0.000 4 0.125 0.049 2811 2964 3806 0 0 0 0 0 0

3779 -1.04 -185.1 752.4 -22.6 412 3784 0.32 2.17 0.00 0.000 6 0.122 0.049 2919 1568 3806 0 0 0 0 0 0

4095 -1.05 -185.1 810.1 -18.0 427 4096 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 1568 3803 0 0 0 0 0 0

4404 -1.07 -185.1 865.9 -18.3 442 4408 0.00 2.17 0.00 0.000 4 0.000 0.048 2908 2966 3799 0 0 0 0 0 0

4439 -1.10 -185.1 872.1 -18.0 443 4446 0.00 2.20 0.00 0.000 6 0.000 0.050 2909 1566 3798 0 0 0 0 0 0

4755 -1.12 -185.1 931.4 -18.8 459 4759 0.00 2.25 0.00 0.000 4 0.000 0.062 2908 162 3795 0 0 0 0 0 0

4793 -1.13 -185.1 939.4 -20.4 460 4801 0.00 2.17 0.00 0.000 6 0.000 0.043 2898 1565 3795 0 0 0 0 0 0

5107 end dive: TARGET_DEPTH_EXCEEDED

state 5107 begin apogee

5113 0.00 0.0 1000.5 19.2 476 5271 1.00 0.00 152.02 1.209 4 0.101 0.000 3249 1713 3067 0 0 0 0 0 0

5272 end apogee: CONTROL_FINISHED_OK

state 5272 begin climb

5274 0.84 185.1 1008.3 0.0 483 5442 0.73 2.28 160.23 1.132 4 0.028 0.047 3573 3104 2313 0 0 0 0 0 0

5559 0.79 185.1 956.6 25.8 496 5568 0.28 2.25 0.00 0.000 6 0.160 0.047 3505 1695 2304 0 0 0 0 0 0

5876 0.77 185.1 887.1 21.8 512 5880 0.00 2.22 0.00 0.000 4 0.000 0.060 3515 293 2299 0 0 0 0 0 0

5897 0.75 185.1 881.9 21.9 513 5902 0.08 2.15 0.00 0.000 6 0.142 0.033 3477 1696 2297 0 0 0 0 0 0

6225 0.75 185.1 818.9 19.2 529 6229 0.00 2.15 0.00 0.000 4 0.000 0.042 3477 3105 2296 0 0 0 0 0 0

6251 0.75 185.1 813.0 19.9 530 6255 0.00 2.25 0.00 0.000 6 0.000 0.049 3488 1698 2295 0 0 0 0 0 0

6579 0.75 185.1 748.6 19.5 546 6583 0.00 2.17 0.00 0.000 4 0.000 0.041 3488 3105 2294 0 0 0 0 0 0

6623 0.75 185.1 739.8 19.2 548 6627 0.00 2.20 0.00 0.000 6 0.000 0.049 3499 1701 2294 0 0 0 0 0 0

6944 0.74 185.1 678.2 18.3 564 6948 0.00 2.17 0.00 0.000 4 0.000 0.041 3499 3109 2292 0 0 0 0 0 0

6984 0.74 185.1 670.7 19.0 566 6989 0.10 2.20 0.00 0.000 6 0.184 0.050 3484 1708 2291 0 0 0 0 0 0

7311 0.74 185.1 616.0 16.6 582 7315 0.00 2.25 0.00 0.000 4 0.000 0.060 3493 292 2290 0 0 0 0 0 0

7328 0.74 185.1 612.9 17.3 583 7332 0.00 2.15 0.00 0.000 6 0.000 0.034 3493 1707 2289 0 0 0 0 0 0

7651 0.74 185.1 555.7 18.3 610 7655 0.00 2.15 0.00 0.000 4 0.000 0.042 3493 3110 2288 0 0 0 0 0 0

7702 0.74 185.1 546.4 17.7 614 7706 0.08 2.20 0.00 0.000 6 0.201 0.049 3487 1710 2288 0 0 0 0 0 0

8033 0.74 185.1 494.7 15.9 645 8037 0.00 2.17 0.00 0.000 4 0.000 0.043 3486 3111 2288 0 0 0 0 0 0

8101 0.74 185.1 483.3 16.7 651 8105 0.00 2.20 0.00 0.000 6 0.000 0.049 3496 1709 2287 0 0 0 0 0 0

8427 0.74 185.1 428.4 17.3 681 8431 0.00 2.25 0.00 0.000 4 0.000 0.060 3507 289 2286 0 0 0 0 0 0

8455 0.74 185.1 423.2 17.6 683 8460 0.08 2.15 0.00 0.000 6 0.190 0.034 3490 1709 2286 0 0 0 0 0 0

8783 0.75 185.1 371.5 16.0 713 8787 0.00 2.12 0.00 0.000 4 0.000 0.041 3489 3108 2285 0 0 0 0 0 0

8835 0.77 185.1 362.7 15.8 717 8839 0.00 2.17 0.00 0.000 6 0.000 0.047 3500 1713 2286 0 0 0 0 0 0

9161 0.78 193.9 313.6 13.1 747 9165 0.00 2.25 0.00 0.000 4 0.000 0.057 3511 282 2286 0 0 0 0 0 0

9226 0.78 193.9 304.1 14.7 752 9236 0.00 2.15 3.70 0.474 6 0.000 0.033 3511 1692 2277 0 0 0 0 0 0

9568 0.78 193.9 255.9 14.6 810 9574 0.00 0.00 0.00 0.000 6 0.000 0.000 3511 1693 2277 0 0 0 0 0 0

9910 0.80 199.9 210.9 13.3 871 9925 0.00 2.25 7.60 0.593 4 0.000 0.040 3511 3109 2252 0 0 0 0 0 0

9943 0.82 203.7 206.5 13.6 876 9957 0.00 2.22 5.25 0.520 6 0.000 0.045 3522 1694 2236 0 0 0 0 0 0

10297 0.87 233.6 159.2 11.2 938 10328 0.00 2.30 26.40 0.633 4 0.000 0.055 3533 293 2115 0 0 0 0 0 0

10509 0.90 236.5 130.5 13.6 975 10515 0.00 2.12 0.00 0.000 6 0.000 0.032 3533 1692 2110 0 0 0 0 0 0

10854 1.01 297.9 98.3 8.3 1036 10915 0.12 2.28 52.58 0.580 4 0.078 0.051 3656 292 1852 0 0 0 0 0 0

10967 0.98 297.9 80.2 18.7 1055 10974 0.30 2.12 0.00 0.000 6 0.135 0.031 3564 1687 1848 0 0 0 0 0 0

11313 1.01 297.9 30.5 15.5 1116 11320 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 1689 1845 0 0 0 0 0 0

11657 1.38 451.1 3.5 0.0 1177 11729 0.32 2.30 65.55 0.489 4 0.068 0.052 3706 295 1226 0 0 0 0 0 0

11736 end climb: NO_VERTICAL_VELOCITY

state 11736 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	470	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	484	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	44	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	-3868.9351	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	101110,151631,2121.398,12601.398,10,1.2,10,-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	4.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101110,152333,2121.352,12601.337,13,1.6,13,-2.9	MHEAD_RNG_PITCHd_Wd	350.6,516,-27.7,-13.889
SPEED_LIMITS	0.241,0.322	D_GRID	1000

FREEZE	3.42,26.537,-1.403,0,1,0	_10V_AH	10.1,46.575
SM_CCo	11739,97.72,0.490,0,0,414,650.78	FG_AHR_24Vo	0.000
SM_GC	4.13,8.77,0.00,0.00,0.019,0.000,0.000,103,1578,409,-9.70,0.79,652.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12602.66,101110,151541	MEM	334064
TT8_MAMPS	0.026964	DATA_FILE_SIZE	67020,1190
HUMID	45.86	CAP_FILE_SIZE	149572,0
INTERNAL_PRESSURE	9.44372	CFSIZE	260165632,224702464
TCM_TEMP	25.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	5	CURRENT	0.055,117.9,1
_24V_AH	23.4,65.912	GPS	101110,184637,2122.974,12601.243,45,1.1,46,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	201	109.11	SBE_CT	807	24	453.71
Roll_motor	109	67	172.49	AA4330	0	0	0.00
VBD_pump_during_apogee	473	1208	13387.33	WL_BB2F	0	0	0.00
VBD_pump_during_surface	97	489	1119.60	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	1	420	12.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	0	0.00
TT8	2905	19	581.08
LPSleep	6430	2	142.23
TT8_Active	669	19	133.84
TT8_Sampling	1954	39	785.68
TT8_CF8	191	45	88.67
TT8_Kalman	0	0	0.00
Analog_circuits	1731	12	209.83
GPS_charging	0	0	0.00
Compass	1928	15	292.14
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
16	-0.74	-102.9	0.0	0.0	0	24	0.00	0.00	-6.55	0.000	2	0.000	0.000	124	1539	623	0	0	0	0	0	0
27	-0.84	-185.1	4.4	-0.0	1	153	9.50	2.25	-107.00	0.000	4	0.164	0.057	2972	2948	3824	0	0	0	0	0	0
257	-0.86	-185.1	34.4	-22.2	39	263	0.00	2.17	0.00	0.000	6	0.000	0.048	2972	1552	3825	0	0	0	0	0	0
600	-0.83	-185.1	148.1	-29.2	100	607	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	1551	3825	0	0	0	0	0	0
944	-0.83	-185.1	231.9	-24.2	161	950	0.00	2.17	0.00	0.000	4	0.000	0.051	2972	155	3826	0	0	0	0	0	0
979	-0.83	-185.1	240.6	-24.8	167	987	0.10	2.10	0.00	0.000	6	0.181	0.039	2990	1549	3826	0	0	0	0	0	0
1321	-0.85	-185.1	304.4	-18.5	226	1325	0.00	2.17	0.00	0.000	4	0.000	0.051	2990	155	3825	0	0	0	0	0	0
1339	-0.87	-185.1	307.8	-18.2	227	1343	0.00	2.10	0.00	0.000	6	0.000	0.037	2981	1552	3826	0	0	0	0	0	0
1670	-0.90	-185.1	367.0	-16.9	258	1675	0.08	2.17	0.00	0.000	4	0.121	0.045	2845	2964	3824	0	0	0	0	0	0
1714	-0.87	-185.1	377.2	-24.0	261	1722	0.40	2.17	0.00	0.000	6	0.113	0.044	2981	1547	3824	0	0	0	0	0	0
2040	-0.90	-185.1	434.8	-17.3	292	2041	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1547	3822	0	0	0	0	0	0
2359	-0.94	-185.1	488.0	-16.2	322	2361	0.10	0.00	0.00	0.000	6	0.092	0.000	2854	1546	3820	0	0	0	0	0	0
2676	-0.90	-185.1	571.8	-25.2	352	2681	0.32	2.20	0.00	0.000	4	0.121	0.043	2956	2957	3817	0	0	0	0	0	0
2727	-0.95	-185.1	580.7	-13.6	356	2731	0.00	2.17	0.00	0.000	6	0.000	0.046	2956	1554	3817	0	0	0	0	0	0
3049	-0.99	-185.1	626.6	-14.2	377	3054	0.08	2.20	0.00	0.000	4	0.122	0.057	2834	169	3814	0	0	0	0	0	0
3068	-0.99	-185.1	630.0	-15.0	378	3073	0.35	2.10	0.00	0.000	6	0.129	0.041	2939	1557	3814	0	0	0	0	0	0
3397	-1.01	-185.1	685.1	-16.0	394	3401	0.00	2.15	0.00	0.000	4	0.000	0.047	2928	2961	3810	0	0	0	0	0	0
3430	-1.04	-185.1	690.8	-15.2	395	3436	0.00	2.17	0.00	0.000	6	0.000	0.047	2928	1559	3810	0	0	0	0	0	0
3746	-1.06	-185.1	745.0	-17.3	411	3750	0.08	2.20	0.00	0.000	4	0.125	0.049	2811	2964	3806	0	0	0	0	0	0
3779	-1.04	-185.1	752.4	-22.6	412	3784	0.32	2.17	0.00	0.000	6	0.122	0.049	2919	1568	3806	0	0	0	0	0	0
4095	-1.05	-185.1	810.1	-18.0	427	4096	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	1568	3803	0	0	0	0	0	0
4404	-1.07	-185.1	865.9	-18.3	442	4408	0.00	2.17	0.00	0.000	4	0.000	0.048	2908	2966	3799	0	0	0	0	0	0
4439	-1.10	-185.1	872.1	-18.0	443	4446	0.00	2.20	0.00	0.000	6	0.000	0.050	2909	1566	3798	0	0	0	0	0	0
4755	-1.12	-185.1	931.4	-18.8	459	4759	0.00	2.25	0.00	0.000	4	0.000	0.062	2908	162	3795	0	0	0	0	0	0
4793	-1.13	-185.1	939.4	-20.4	460	4801	0.00	2.17	0.00	0.000	6	0.000	0.043	2898	1565	3795	0	0	0	0	0	0
5107	end dive: TARGET_DEPTH_EXCEEDED
state	5107	begin apogee
5113	0.00	0.0	1000.5	19.2	476	5271	1.00	0.00	152.02	1.209	4	0.101	0.000	3249	1713	3067	0	0	0	0	0	0
5272	end apogee: CONTROL_FINISHED_OK
state	5272	begin climb
5274	0.84	185.1	1008.3	0.0	483	5442	0.73	2.28	160.23	1.132	4	0.028	0.047	3573	3104	2313	0	0	0	0	0	0
5559	0.79	185.1	956.6	25.8	496	5568	0.28	2.25	0.00	0.000	6	0.160	0.047	3505	1695	2304	0	0	0	0	0	0
5876	0.77	185.1	887.1	21.8	512	5880	0.00	2.22	0.00	0.000	4	0.000	0.060	3515	293	2299	0	0	0	0	0	0
5897	0.75	185.1	881.9	21.9	513	5902	0.08	2.15	0.00	0.000	6	0.142	0.033	3477	1696	2297	0	0	0	0	0	0
6225	0.75	185.1	818.9	19.2	529	6229	0.00	2.15	0.00	0.000	4	0.000	0.042	3477	3105	2296	0	0	0	0	0	0
6251	0.75	185.1	813.0	19.9	530	6255	0.00	2.25	0.00	0.000	6	0.000	0.049	3488	1698	2295	0	0	0	0	0	0
6579	0.75	185.1	748.6	19.5	546	6583	0.00	2.17	0.00	0.000	4	0.000	0.041	3488	3105	2294	0	0	0	0	0	0
6623	0.75	185.1	739.8	19.2	548	6627	0.00	2.20	0.00	0.000	6	0.000	0.049	3499	1701	2294	0	0	0	0	0	0
6944	0.74	185.1	678.2	18.3	564	6948	0.00	2.17	0.00	0.000	4	0.000	0.041	3499	3109	2292	0	0	0	0	0	0
6984	0.74	185.1	670.7	19.0	566	6989	0.10	2.20	0.00	0.000	6	0.184	0.050	3484	1708	2291	0	0	0	0	0	0
7311	0.74	185.1	616.0	16.6	582	7315	0.00	2.25	0.00	0.000	4	0.000	0.060	3493	292	2290	0	0	0	0	0	0
7328	0.74	185.1	612.9	17.3	583	7332	0.00	2.15	0.00	0.000	6	0.000	0.034	3493	1707	2289	0	0	0	0	0	0
7651	0.74	185.1	555.7	18.3	610	7655	0.00	2.15	0.00	0.000	4	0.000	0.042	3493	3110	2288	0	0	0	0	0	0
7702	0.74	185.1	546.4	17.7	614	7706	0.08	2.20	0.00	0.000	6	0.201	0.049	3487	1710	2288	0	0	0	0	0	0
8033	0.74	185.1	494.7	15.9	645	8037	0.00	2.17	0.00	0.000	4	0.000	0.043	3486	3111	2288	0	0	0	0	0	0
8101	0.74	185.1	483.3	16.7	651	8105	0.00	2.20	0.00	0.000	6	0.000	0.049	3496	1709	2287	0	0	0	0	0	0
8427	0.74	185.1	428.4	17.3	681	8431	0.00	2.25	0.00	0.000	4	0.000	0.060	3507	289	2286	0	0	0	0	0	0
8455	0.74	185.1	423.2	17.6	683	8460	0.08	2.15	0.00	0.000	6	0.190	0.034	3490	1709	2286	0	0	0	0	0	0
8783	0.75	185.1	371.5	16.0	713	8787	0.00	2.12	0.00	0.000	4	0.000	0.041	3489	3108	2285	0	0	0	0	0	0
8835	0.77	185.1	362.7	15.8	717	8839	0.00	2.17	0.00	0.000	6	0.000	0.047	3500	1713	2286	0	0	0	0	0	0
9161	0.78	193.9	313.6	13.1	747	9165	0.00	2.25	0.00	0.000	4	0.000	0.057	3511	282	2286	0	0	0	0	0	0
9226	0.78	193.9	304.1	14.7	752	9236	0.00	2.15	3.70	0.474	6	0.000	0.033	3511	1692	2277	0	0	0	0	0	0
9568	0.78	193.9	255.9	14.6	810	9574	0.00	0.00	0.00	0.000	6	0.000	0.000	3511	1693	2277	0	0	0	0	0	0
9910	0.80	199.9	210.9	13.3	871	9925	0.00	2.25	7.60	0.593	4	0.000	0.040	3511	3109	2252	0	0	0	0	0	0
9943	0.82	203.7	206.5	13.6	876	9957	0.00	2.22	5.25	0.520	6	0.000	0.045	3522	1694	2236	0	0	0	0	0	0
10297	0.87	233.6	159.2	11.2	938	10328	0.00	2.30	26.40	0.633	4	0.000	0.055	3533	293	2115	0	0	0	0	0	0
10509	0.90	236.5	130.5	13.6	975	10515	0.00	2.12	0.00	0.000	6	0.000	0.032	3533	1692	2110	0	0	0	0	0	0
10854	1.01	297.9	98.3	8.3	1036	10915	0.12	2.28	52.58	0.580	4	0.078	0.051	3656	292	1852	0	0	0	0	0	0
10967	0.98	297.9	80.2	18.7	1055	10974	0.30	2.12	0.00	0.000	6	0.135	0.031	3564	1687	1848	0	0	0	0	0	0
11313	1.01	297.9	30.5	15.5	1116	11320	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	1689	1845	0	0	0	0	0	0
11657	1.38	451.1	3.5	0.0	1177	11729	0.32	2.30	65.55	0.489	4	0.068	0.052	3706	295	1226	0	0	0	0	0	0
11736	end climb: NO_VERTICAL_VELOCITY
state	11736	begin surface