Glider dive log

ITOP Sep10 * SG166 * Dive index * Mission links * Dive 473 * 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 473 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 481 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 41 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 -22179.641 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 -22179.641

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 41 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 473 NAV_MODE 2 SEABIRD_C_J 0.00020161238 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 481 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 091110,040254,2115.748,12600.165,39,1.2,39,-2.9 TGT_NAME PICKUP_SOUTH

_CALLS 1 TGT_LATLONG 2118.900,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091110,041001,2115.625,12600.033,15,1.4,15,-2.9 MHEAD_RNG_PITCHd_Wd 34.7,6390,-19.7,-13.889

SPEED_LIMITS 0.241,0.344 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.022719 _10V_AH 10.1,57.219

SM_CCo 13361,0.00,0.000,0,0,629,599.02 FG_AHR_24Vo 22.000

SM_GC 1.70,8.05,0.00,0.00,0.038,0.000,0.000,168,1758,629,-8.35,-1.19,599.02 FG_AHR_10Vo 9.000

IRIDIUM_FIX 2106.38,12559.94,091110,000015 MEM 333752

TT8_MAMPS 0.026215 DATA_FILE_SIZE 73546,1236

HUMID 44.80 CAP_FILE_SIZE 137515,0

INTERNAL_PRESSURE 8.65726 CFSIZE 260165632,150544384

TCM_TEMP 23.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 99 CURRENT 0.088,247.0,1

_24V_AH 22.0,91.028 GPS 091110,075406,2117.433,12600.613,26,1.1,26,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 229 114.74 SBE_CT 843 24 445.22

Roll_motor 83 120 220.57 AA3830 1052 33 764.28

VBD_pump_during_apogee 729 1442 23165.65 WL_BB2F 1311 105 3028.66

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 31 0 0.00 nil 0 0 0.00

Iridium_during_connect 18 0 0.00 nil 0 0 0.00

Iridium_during_xfer 191 0 0.00 nil 0 0 0.00

Transponder_ping 24 420 228.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 0 0.00

TT8 2972 19 594.52

LPSleep 6809 2 150.61

TT8_Active 735 19 147.11

TT8_Sampling 2847 39 1144.65

TT8_CF8 404 45 187.24

TT8_Kalman 0 0 0.00

Analog_circuits 1876 12 227.42

GPS_charging 0 0 0.00

Compass 2611 15 395.57

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.16 -214.1 0.0 0.0 0 117 0.00 0.00 -97.65 0.000 2 0.000 0.000 151 1795 3423 0 0 0 0 0 0

120 -1.16 -214.1 5.9 -9.7 13 143 9.52 0.00 -9.73 0.000 6 0.230 0.000 2459 1795 3948 0 0 0 0 0 0

460 -0.92 -214.1 138.4 -31.7 76 469 0.25 2.20 0.00 0.000 4 0.187 0.042 2536 382 3952 0 0 0 0 0 0

492 -0.74 -214.1 146.8 -29.1 80 500 0.20 2.17 0.00 0.000 6 0.149 0.041 2596 1790 3952 0 0 0 0 0 0

825 -0.72 -214.1 207.1 -14.8 141 831 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 1791 3955 0 0 0 0 0 0

1157 -0.72 -214.1 254.0 -12.9 202 1165 0.00 2.22 0.00 0.000 4 0.000 0.048 2596 389 3956 0 0 0 0 0 0

1243 -0.76 -214.1 266.0 -13.8 217 1250 0.00 2.17 0.00 0.000 6 0.000 0.044 2586 1805 3955 0 0 0 0 0 0

1574 -0.76 -214.1 313.0 -12.9 269 1578 0.00 2.15 0.00 0.000 4 0.000 0.047 2571 3217 3955 0 0 0 0 0 0

1607 -0.80 -214.1 317.6 -12.3 271 1615 0.00 2.15 0.00 0.000 6 0.000 0.035 2571 1796 3956 0 0 0 0 0 0

1933 -0.80 -214.1 363.4 -14.4 302 1937 0.00 2.15 0.00 0.000 4 0.000 0.048 2570 395 3955 0 0 0 0 0 0

1998 -0.84 -214.1 372.9 -13.1 307 2006 0.00 2.17 0.00 0.000 6 0.000 0.044 2566 1809 3955 0 0 0 0 0 0

2324 -0.85 -214.1 415.9 -12.9 338 2325 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 1810 3954 0 0 0 0 0 0

2645 -0.88 -214.1 455.5 -11.9 368 2649 0.00 2.20 0.00 0.000 4 0.000 0.051 2566 398 3951 0 0 0 0 0 0

2668 -0.91 -214.1 458.4 -11.4 369 2675 0.00 2.15 0.00 0.000 6 0.000 0.046 2559 1801 3952 0 0 0 0 0 0

2994 -0.92 -214.1 499.2 -12.8 400 2995 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1801 3950 0 0 0 0 0 0

3317 -0.94 -214.1 538.8 -12.5 430 3323 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1801 3948 0 0 0 0 0 0

3646 -0.96 -214.1 581.4 -13.5 461 3650 0.00 2.20 0.00 0.000 4 0.000 0.054 2556 398 3944 0 0 0 0 0 0

3690 -1.00 -214.1 588.5 -14.1 464 3698 0.15 2.17 0.00 0.000 6 0.082 0.049 2498 1799 3944 0 0 0 0 0 0

4010 -0.93 -214.1 646.0 -17.6 483 4014 0.15 2.22 0.00 0.000 4 0.177 0.056 2530 3210 3941 0 0 0 0 0 0

4051 -0.93 -214.1 652.2 -13.6 485 4056 0.00 2.15 0.00 0.000 6 0.000 0.040 2530 1793 3941 0 0 0 0 0 0

4379 -0.91 -214.1 696.1 -13.1 501 4383 0.00 2.17 0.00 0.000 4 0.000 0.055 2530 390 3939 0 0 0 0 0 0

4445 -0.89 -214.1 705.0 -14.3 504 4450 0.12 2.17 0.00 0.000 6 0.168 0.049 2553 1802 3938 0 0 0 0 0 0

4776 -0.91 -214.1 742.0 -11.3 520 4777 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1802 3935 0 0 0 0 0 0

5085 -0.93 -214.1 778.2 -12.1 535 5086 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 1802 3933 0 0 0 0 0 0

5393 -0.95 -214.1 818.0 -13.1 550 5397 0.00 2.20 0.00 0.000 4 0.000 0.060 2546 3209 3929 0 0 0 0 0 0

5434 -1.00 -214.1 823.3 -12.6 552 5438 0.00 2.15 0.00 0.000 6 0.000 0.043 2545 1796 3929 0 0 0 0 0 0

5764 -1.00 -214.1 867.4 -13.3 568 5768 0.00 2.20 0.00 0.000 4 0.000 0.057 2545 387 3926 0 0 0 0 0 0

5804 -1.00 -214.1 873.5 -15.1 570 5808 0.00 2.20 0.00 0.000 6 0.000 0.051 2536 1797 3925 0 0 0 0 0 0

6134 -1.00 -214.1 919.1 -13.8 586 6135 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 1798 3923 0 0 0 0 0 0

6440 -1.00 -214.1 961.6 -13.7 601 6441 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 1798 3921 0 0 0 0 0 0

6726 end dive: TARGET_DEPTH_EXCEEDED

state 6726 begin apogee

6732 -0.23 0.0 1000.5 13.5 615 6928 0.70 0.00 186.52 1.443 6 0.133 0.000 2757 1746 3071 0 0 0 0 0 0

6928 end apogee: CONTROL_FINISHED_OK

state 6929 begin climb

6931 1.16 214.1 1010.3 0.0 624 7142 1.33 2.50 202.10 1.379 4 0.057 0.060 3228 353 2198 0 0 0 0 0 0

7159 0.83 214.1 971.7 30.3 635 7164 0.47 2.38 0.00 0.000 6 0.203 0.049 3112 1745 2196 0 0 0 0 0 0

7484 0.64 214.1 899.1 21.9 651 7489 0.22 2.22 0.00 0.000 4 0.185 0.054 3041 3169 2191 0 0 0 0 0 0

7534 0.55 214.1 888.8 17.4 653 7538 0.12 2.17 0.00 0.000 6 0.195 0.044 3019 1739 2190 0 0 0 0 0 0

7852 0.49 214.1 843.3 14.5 668 7853 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1739 2189 0 0 0 0 0 0

8159 0.43 214.1 798.4 14.9 683 8161 0.15 0.00 0.00 0.000 6 0.174 0.000 2978 1739 2188 0 0 0 0 0 0

8468 0.50 270.5 762.4 11.4 698 8522 0.00 0.00 51.50 1.286 6 0.000 0.000 2978 1739 1969 0 0 0 0 0 0

8825 0.62 340.9 723.1 10.8 715 8894 0.17 0.00 66.18 1.251 6 0.076 0.000 3061 1739 1681 0 0 0 0 0 0

9192 0.55 340.9 652.5 19.4 733 9194 0.15 0.00 0.00 0.000 6 0.175 0.000 3022 1738 1676 0 0 0 0 0 0

9499 0.55 340.9 605.5 15.2 748 9500 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1738 1675 0 0 0 0 0 0

9817 0.55 340.9 556.3 14.7 776 9818 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1739 1673 0 0 0 0 0 0

10138 0.55 340.9 510.4 14.1 806 10142 0.00 2.17 0.00 0.000 4 0.000 0.057 3031 346 1673 0 0 0 0 0 0

10159 0.55 340.9 506.6 14.9 807 10166 0.00 2.17 0.00 0.000 6 0.000 0.042 3031 1761 1670 0 0 0 0 0 0

10484 0.55 340.9 459.7 14.5 838 10488 0.00 2.15 0.00 0.000 4 0.000 0.052 3031 3164 1670 0 0 0 0 0 0

10528 0.57 344.3 453.1 13.7 841 10535 0.00 2.15 0.00 0.000 6 0.000 0.043 3039 1749 1670 0 0 0 0 0 0

10853 0.57 344.3 405.1 14.2 872 10857 0.00 2.17 0.00 0.000 4 0.000 0.057 3050 346 1670 0 0 0 0 0 0

10904 0.57 344.3 397.6 14.7 876 10908 0.00 2.15 0.00 0.000 6 0.000 0.041 3050 1754 1669 0 0 0 0 0 0

11229 0.57 344.3 348.2 15.7 906 11230 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1757 1669 0 0 0 0 0 0

11550 0.56 344.3 299.6 14.9 936 11559 0.00 2.17 0.00 0.000 4 0.000 0.049 3050 3155 1669 0 0 0 0 0 0

11607 0.56 344.3 291.3 14.6 945 11615 0.15 2.15 0.00 0.000 6 0.155 0.041 3019 1749 1669 0 0 0 0 0 0

11949 0.75 456.0 254.1 9.0 1006 12058 0.17 2.33 100.80 0.876 4 0.070 0.054 3127 346 1212 0 0 0 0 0 0

12112 0.70 456.0 223.3 21.0 1031 12120 0.22 2.15 0.00 0.000 6 0.151 0.037 3063 1755 1210 0 0 0 0 0 0

12456 0.76 470.5 173.2 13.3 1092 12479 0.00 2.20 13.50 0.744 4 0.000 0.047 3063 3156 1153 0 0 0 0 0 0

12508 0.89 507.4 166.0 12.3 1100 12547 0.12 2.17 32.75 0.773 6 0.038 0.037 3156 1743 1003 0 0 0 0 0 0

12874 0.85 507.4 88.8 17.0 1165 12882 0.15 2.22 0.00 0.000 4 0.161 0.054 3124 348 999 0 0 0 0 0 0

12951 1.06 596.8 79.3 10.0 1178 13039 0.12 2.15 76.47 0.702 6 0.044 0.037 3202 1754 636 0 0 0 0 0 0

13272 end climb: SURFACE_DEPTH_REACHED

state 13272 begin surface coast

13284 end surface coast: CONTROL_FINISHED_OK

state 13284 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	473	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	481	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	41	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	-22179.641	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	091110,040254,2115.748,12600.165,39,1.2,39,-2.9	TGT_NAME	PICKUP_SOUTH
_CALLS	1	TGT_LATLONG	2118.900,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091110,041001,2115.625,12600.033,15,1.4,15,-2.9	MHEAD_RNG_PITCHd_Wd	34.7,6390,-19.7,-13.889
SPEED_LIMITS	0.241,0.344	D_GRID	1000

FINISH	1.1,1.022719	_10V_AH	10.1,57.219
SM_CCo	13361,0.00,0.000,0,0,629,599.02	FG_AHR_24Vo	22.000
SM_GC	1.70,8.05,0.00,0.00,0.038,0.000,0.000,168,1758,629,-8.35,-1.19,599.02	FG_AHR_10Vo	9.000
IRIDIUM_FIX	2106.38,12559.94,091110,000015	MEM	333752
TT8_MAMPS	0.026215	DATA_FILE_SIZE	73546,1236
HUMID	44.80	CAP_FILE_SIZE	137515,0
INTERNAL_PRESSURE	8.65726	CFSIZE	260165632,150544384
TCM_TEMP	23.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	99	CURRENT	0.088,247.0,1
_24V_AH	22.0,91.028	GPS	091110,075406,2117.433,12600.613,26,1.1,26,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	229	114.74	SBE_CT	843	24	445.22
Roll_motor	83	120	220.57	AA3830	1052	33	764.28
VBD_pump_during_apogee	729	1442	23165.65	WL_BB2F	1311	105	3028.66
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	31	0	0.00	nil	0	0	0.00
Iridium_during_connect	18	0	0.00	nil	0	0	0.00
Iridium_during_xfer	191	0	0.00	nil	0	0	0.00
Transponder_ping	24	420	228.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	0	0.00
TT8	2972	19	594.52
LPSleep	6809	2	150.61
TT8_Active	735	19	147.11
TT8_Sampling	2847	39	1144.65
TT8_CF8	404	45	187.24
TT8_Kalman	0	0	0.00
Analog_circuits	1876	12	227.42
GPS_charging	0	0	0.00
Compass	2611	15	395.57
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.16	-214.1	0.0	0.0	0	117	0.00	0.00	-97.65	0.000	2	0.000	0.000	151	1795	3423	0	0	0	0	0	0
120	-1.16	-214.1	5.9	-9.7	13	143	9.52	0.00	-9.73	0.000	6	0.230	0.000	2459	1795	3948	0	0	0	0	0	0
460	-0.92	-214.1	138.4	-31.7	76	469	0.25	2.20	0.00	0.000	4	0.187	0.042	2536	382	3952	0	0	0	0	0	0
492	-0.74	-214.1	146.8	-29.1	80	500	0.20	2.17	0.00	0.000	6	0.149	0.041	2596	1790	3952	0	0	0	0	0	0
825	-0.72	-214.1	207.1	-14.8	141	831	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	1791	3955	0	0	0	0	0	0
1157	-0.72	-214.1	254.0	-12.9	202	1165	0.00	2.22	0.00	0.000	4	0.000	0.048	2596	389	3956	0	0	0	0	0	0
1243	-0.76	-214.1	266.0	-13.8	217	1250	0.00	2.17	0.00	0.000	6	0.000	0.044	2586	1805	3955	0	0	0	0	0	0
1574	-0.76	-214.1	313.0	-12.9	269	1578	0.00	2.15	0.00	0.000	4	0.000	0.047	2571	3217	3955	0	0	0	0	0	0
1607	-0.80	-214.1	317.6	-12.3	271	1615	0.00	2.15	0.00	0.000	6	0.000	0.035	2571	1796	3956	0	0	0	0	0	0
1933	-0.80	-214.1	363.4	-14.4	302	1937	0.00	2.15	0.00	0.000	4	0.000	0.048	2570	395	3955	0	0	0	0	0	0
1998	-0.84	-214.1	372.9	-13.1	307	2006	0.00	2.17	0.00	0.000	6	0.000	0.044	2566	1809	3955	0	0	0	0	0	0
2324	-0.85	-214.1	415.9	-12.9	338	2325	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	1810	3954	0	0	0	0	0	0
2645	-0.88	-214.1	455.5	-11.9	368	2649	0.00	2.20	0.00	0.000	4	0.000	0.051	2566	398	3951	0	0	0	0	0	0
2668	-0.91	-214.1	458.4	-11.4	369	2675	0.00	2.15	0.00	0.000	6	0.000	0.046	2559	1801	3952	0	0	0	0	0	0
2994	-0.92	-214.1	499.2	-12.8	400	2995	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1801	3950	0	0	0	0	0	0
3317	-0.94	-214.1	538.8	-12.5	430	3323	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1801	3948	0	0	0	0	0	0
3646	-0.96	-214.1	581.4	-13.5	461	3650	0.00	2.20	0.00	0.000	4	0.000	0.054	2556	398	3944	0	0	0	0	0	0
3690	-1.00	-214.1	588.5	-14.1	464	3698	0.15	2.17	0.00	0.000	6	0.082	0.049	2498	1799	3944	0	0	0	0	0	0
4010	-0.93	-214.1	646.0	-17.6	483	4014	0.15	2.22	0.00	0.000	4	0.177	0.056	2530	3210	3941	0	0	0	0	0	0
4051	-0.93	-214.1	652.2	-13.6	485	4056	0.00	2.15	0.00	0.000	6	0.000	0.040	2530	1793	3941	0	0	0	0	0	0
4379	-0.91	-214.1	696.1	-13.1	501	4383	0.00	2.17	0.00	0.000	4	0.000	0.055	2530	390	3939	0	0	0	0	0	0
4445	-0.89	-214.1	705.0	-14.3	504	4450	0.12	2.17	0.00	0.000	6	0.168	0.049	2553	1802	3938	0	0	0	0	0	0
4776	-0.91	-214.1	742.0	-11.3	520	4777	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1802	3935	0	0	0	0	0	0
5085	-0.93	-214.1	778.2	-12.1	535	5086	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	1802	3933	0	0	0	0	0	0
5393	-0.95	-214.1	818.0	-13.1	550	5397	0.00	2.20	0.00	0.000	4	0.000	0.060	2546	3209	3929	0	0	0	0	0	0
5434	-1.00	-214.1	823.3	-12.6	552	5438	0.00	2.15	0.00	0.000	6	0.000	0.043	2545	1796	3929	0	0	0	0	0	0
5764	-1.00	-214.1	867.4	-13.3	568	5768	0.00	2.20	0.00	0.000	4	0.000	0.057	2545	387	3926	0	0	0	0	0	0
5804	-1.00	-214.1	873.5	-15.1	570	5808	0.00	2.20	0.00	0.000	6	0.000	0.051	2536	1797	3925	0	0	0	0	0	0
6134	-1.00	-214.1	919.1	-13.8	586	6135	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	1798	3923	0	0	0	0	0	0
6440	-1.00	-214.1	961.6	-13.7	601	6441	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	1798	3921	0	0	0	0	0	0
6726	end dive: TARGET_DEPTH_EXCEEDED
state	6726	begin apogee
6732	-0.23	0.0	1000.5	13.5	615	6928	0.70	0.00	186.52	1.443	6	0.133	0.000	2757	1746	3071	0	0	0	0	0	0
6928	end apogee: CONTROL_FINISHED_OK
state	6929	begin climb
6931	1.16	214.1	1010.3	0.0	624	7142	1.33	2.50	202.10	1.379	4	0.057	0.060	3228	353	2198	0	0	0	0	0	0
7159	0.83	214.1	971.7	30.3	635	7164	0.47	2.38	0.00	0.000	6	0.203	0.049	3112	1745	2196	0	0	0	0	0	0
7484	0.64	214.1	899.1	21.9	651	7489	0.22	2.22	0.00	0.000	4	0.185	0.054	3041	3169	2191	0	0	0	0	0	0
7534	0.55	214.1	888.8	17.4	653	7538	0.12	2.17	0.00	0.000	6	0.195	0.044	3019	1739	2190	0	0	0	0	0	0
7852	0.49	214.1	843.3	14.5	668	7853	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1739	2189	0	0	0	0	0	0
8159	0.43	214.1	798.4	14.9	683	8161	0.15	0.00	0.00	0.000	6	0.174	0.000	2978	1739	2188	0	0	0	0	0	0
8468	0.50	270.5	762.4	11.4	698	8522	0.00	0.00	51.50	1.286	6	0.000	0.000	2978	1739	1969	0	0	0	0	0	0
8825	0.62	340.9	723.1	10.8	715	8894	0.17	0.00	66.18	1.251	6	0.076	0.000	3061	1739	1681	0	0	0	0	0	0
9192	0.55	340.9	652.5	19.4	733	9194	0.15	0.00	0.00	0.000	6	0.175	0.000	3022	1738	1676	0	0	0	0	0	0
9499	0.55	340.9	605.5	15.2	748	9500	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1738	1675	0	0	0	0	0	0
9817	0.55	340.9	556.3	14.7	776	9818	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1739	1673	0	0	0	0	0	0
10138	0.55	340.9	510.4	14.1	806	10142	0.00	2.17	0.00	0.000	4	0.000	0.057	3031	346	1673	0	0	0	0	0	0
10159	0.55	340.9	506.6	14.9	807	10166	0.00	2.17	0.00	0.000	6	0.000	0.042	3031	1761	1670	0	0	0	0	0	0
10484	0.55	340.9	459.7	14.5	838	10488	0.00	2.15	0.00	0.000	4	0.000	0.052	3031	3164	1670	0	0	0	0	0	0
10528	0.57	344.3	453.1	13.7	841	10535	0.00	2.15	0.00	0.000	6	0.000	0.043	3039	1749	1670	0	0	0	0	0	0
10853	0.57	344.3	405.1	14.2	872	10857	0.00	2.17	0.00	0.000	4	0.000	0.057	3050	346	1670	0	0	0	0	0	0
10904	0.57	344.3	397.6	14.7	876	10908	0.00	2.15	0.00	0.000	6	0.000	0.041	3050	1754	1669	0	0	0	0	0	0
11229	0.57	344.3	348.2	15.7	906	11230	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1757	1669	0	0	0	0	0	0
11550	0.56	344.3	299.6	14.9	936	11559	0.00	2.17	0.00	0.000	4	0.000	0.049	3050	3155	1669	0	0	0	0	0	0
11607	0.56	344.3	291.3	14.6	945	11615	0.15	2.15	0.00	0.000	6	0.155	0.041	3019	1749	1669	0	0	0	0	0	0
11949	0.75	456.0	254.1	9.0	1006	12058	0.17	2.33	100.80	0.876	4	0.070	0.054	3127	346	1212	0	0	0	0	0	0
12112	0.70	456.0	223.3	21.0	1031	12120	0.22	2.15	0.00	0.000	6	0.151	0.037	3063	1755	1210	0	0	0	0	0	0
12456	0.76	470.5	173.2	13.3	1092	12479	0.00	2.20	13.50	0.744	4	0.000	0.047	3063	3156	1153	0	0	0	0	0	0
12508	0.89	507.4	166.0	12.3	1100	12547	0.12	2.17	32.75	0.773	6	0.038	0.037	3156	1743	1003	0	0	0	0	0	0
12874	0.85	507.4	88.8	17.0	1165	12882	0.15	2.22	0.00	0.000	4	0.161	0.054	3124	348	999	0	0	0	0	0	0
12951	1.06	596.8	79.3	10.0	1178	13039	0.12	2.15	76.47	0.702	6	0.044	0.037	3202	1754	636	0	0	0	0	0	0
13272	end climb: SURFACE_DEPTH_REACHED
state	13272	begin surface coast
13284	end surface coast: CONTROL_FINISHED_OK
state	13284	begin surface