Glider dive log

ITOP Sep10 * SG168 * Dive index * Mission links * Dive 479 * 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 479 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 43 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 -3883.062 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 -3883.062

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 34 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 43 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 479 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 121110,000337,2121.610,12602.274,24,1.2,25,-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 4.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121110,000832,2121.515,12602.282,11,1.4,11,-2.9 MHEAD_RNG_PITCHd_Wd 302.8,1873,-23.4,-13.889

SPEED_LIMITS 0.241,0.322 D_GRID 1000

Post-dive calculations and measurements:

FREEZE 3.70,26.563,-1.857,0,1,0 _10V_AH 10.1,47.242

SM_CCo 12912,128.07,0.498,0,0,415,650.78 FG_AHR_24Vo 0.000

SM_GC 4.36,8.35,0.00,0.00,0.018,0.000,0.000,103,1545,410,-9.71,-0.14,652.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12602.66,111110,202020 MEM 334008

TT8_MAMPS 0.026964 DATA_FILE_SIZE 73430,1259

HUMID 48.14 CAP_FILE_SIZE 146509,0

INTERNAL_PRESSURE 9.42419 CFSIZE 260165632,224043008

TCM_TEMP 24.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 10 CURRENT 0.166,207.9,1

_24V_AH 23.2,67.374 GPS 121110,035137,2121.467,12559.813,31,1.0,31,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 209 117.20 SBE_CT 857 24 477.28

Roll_motor 97 69 157.11 AA4330 0 0 0.00

VBD_pump_during_apogee 478 1212 13453.45 WL_BB2F 0 0 0.00

VBD_pump_during_surface 128 498 1479.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 0 0.00 nil 0 0 0.00

Iridium_during_connect 22 0 0.00 nil 0 0 0.00

Iridium_during_xfer 125 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 24.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 0 0.00

TT8 3098 19 619.65

LPSleep 7295 2 161.38

TT8_Active 712 19 142.48

TT8_Sampling 2214 39 890.34

TT8_CF8 262 45 121.38

TT8_Kalman 0 0 0.00

Analog_circuits 1822 12 220.88

GPS_charging 0 0 0.00

Compass 2029 15 307.40

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.70 -143.6 0.0 0.0 0 23 0.00 0.00 -6.55 0.000 2 0.000 0.000 104 1540 621 0 0 0 0 0 0

26 -0.75 -185.1 4.6 -0.0 1 167 9.77 2.28 -121.15 0.000 4 0.166 0.057 3004 2950 3825 0 0 0 0 0 0

274 -0.75 -185.1 31.0 -20.6 43 282 0.00 2.20 0.00 0.000 6 0.000 0.046 3004 1549 3826 0 0 0 0 0 0

619 -0.71 -185.1 130.3 -22.2 104 626 0.08 0.00 0.00 0.000 6 0.194 0.000 3026 1549 3826 0 0 0 0 0 0

962 -0.73 -185.1 195.7 -17.8 165 968 0.00 2.12 0.00 0.000 4 0.000 0.052 3026 165 3827 0 0 0 0 0 0

998 -0.74 -185.1 202.4 -17.9 171 1006 0.00 2.10 0.00 0.000 6 0.000 0.039 3018 1547 3827 0 0 0 0 0 0

1344 -0.75 -185.1 259.2 -15.9 232 1351 0.00 2.20 0.00 0.000 4 0.000 0.047 3008 2958 3827 0 0 0 0 0 0

1419 -0.80 -185.1 269.7 -12.3 245 1426 0.00 2.17 0.00 0.000 6 0.000 0.044 3008 1551 3826 0 0 0 0 0 0

1755 -0.82 -185.1 321.0 -15.4 293 1759 0.08 2.17 0.00 0.000 4 0.122 0.054 2872 164 3827 0 0 0 0 0 0

1795 -0.75 -185.1 330.5 -27.8 296 1800 0.47 2.10 0.00 0.000 6 0.119 0.039 3016 1549 3826 0 0 0 0 0 0

2121 -0.78 -185.1 378.7 -13.4 326 2124 0.00 2.17 0.00 0.000 4 0.000 0.047 3006 2963 3825 0 0 0 0 0 0

2165 -0.83 -185.1 384.6 -11.4 329 2172 0.08 2.17 0.00 0.000 6 0.114 0.044 2898 1549 3825 0 0 0 0 0 0

2491 -0.79 -185.1 459.4 -24.0 360 2496 0.28 2.15 0.00 0.000 4 0.118 0.053 2997 166 3823 0 0 0 0 0 0

2513 -0.76 -185.1 464.6 -21.6 361 2520 0.08 2.12 0.00 0.000 6 0.171 0.039 3012 1558 3823 0 0 0 0 0 0

2839 -0.80 -185.1 503.5 -11.1 392 2844 0.08 2.17 0.00 0.000 4 0.120 0.046 2885 2964 3821 0 0 0 0 0 0

2895 -0.78 -185.1 513.7 -19.9 396 2902 0.35 2.20 0.00 0.000 6 0.106 0.046 3003 1552 3820 0 0 0 0 0 0

3221 -0.82 -185.1 552.1 -10.7 427 3225 0.00 2.20 0.00 0.000 4 0.000 0.048 2996 2959 3817 0 0 0 0 0 0

3265 -0.88 -185.1 557.0 -9.6 430 3272 0.10 2.20 0.00 0.000 6 0.090 0.047 2884 1553 3817 0 0 0 0 0 0

3598 -0.83 -185.1 627.8 -22.0 456 3600 0.32 0.00 0.00 0.000 6 0.115 0.000 2992 1551 3814 0 0 0 0 0 0

3907 -0.86 -185.1 664.8 -11.5 471 3911 0.00 2.20 0.00 0.000 4 0.000 0.049 2984 2956 3811 0 0 0 0 0 0

3951 -0.92 -185.1 670.0 -10.8 473 3955 0.10 2.20 0.00 0.000 6 0.089 0.049 2875 1562 3811 0 0 0 0 0 0

4273 -0.87 -185.1 740.1 -22.8 489 4277 0.28 2.22 0.00 0.000 4 0.118 0.057 2972 166 3808 0 0 0 0 0 0

4294 -0.85 -185.1 745.0 -19.7 490 4298 0.05 2.15 0.00 0.000 6 0.207 0.042 2979 1559 3807 0 0 0 0 0 0

4623 -0.88 -185.1 787.0 -12.7 506 4627 0.00 2.17 0.00 0.000 4 0.000 0.049 2970 2966 3804 0 0 0 0 0 0

4656 -0.93 -185.1 791.5 -11.7 507 4664 0.00 2.22 0.00 0.000 6 0.000 0.050 2970 1563 3804 0 0 0 0 0 0

4974 -0.95 -185.1 832.9 -13.3 523 4978 0.08 2.22 0.00 0.000 4 0.120 0.050 2853 2963 3800 0 0 0 0 0 0

4994 -0.95 -185.1 836.7 -15.7 524 4999 0.28 2.22 0.00 0.000 6 0.112 0.050 2946 1564 3800 0 0 0 0 0 0

5316 -0.96 -185.1 886.4 -15.3 540 5317 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 1563 3799 0 0 0 0 0 0

5626 -0.97 -185.1 931.0 -13.9 555 5627 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 1563 3796 0 0 0 0 0 0

5935 -0.98 -185.1 972.1 -13.0 570 5936 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 1563 3793 0 0 0 0 0 0

6159 end dive: TARGET_DEPTH_EXCEEDED

state 6159 begin apogee

6165 0.00 0.0 1000.9 12.6 581 6325 0.85 0.00 153.20 1.213 4 0.090 0.000 3253 1715 3068 0 0 0 0 0 0

6326 end apogee: CONTROL_FINISHED_OK

state 6326 begin climb

6328 0.75 185.1 1006.0 0.0 588 6498 0.65 2.30 161.93 1.138 4 0.028 0.049 3546 3102 2313 0 0 0 0 0 0

6627 0.68 185.1 952.6 25.8 602 6632 0.30 2.28 0.00 0.000 6 0.155 0.048 3469 1700 2304 0 0 0 0 0 0

6950 0.65 185.1 891.8 18.4 618 6951 0.00 0.00 0.00 0.000 6 0.000 0.000 3469 1699 2298 0 0 0 0 0 0

7258 0.62 185.1 833.9 18.7 633 7263 0.08 2.17 0.00 0.000 4 0.210 0.042 3449 3106 2296 0 0 0 0 0 0

7279 0.60 185.1 829.3 19.8 634 7284 0.00 2.25 0.00 0.000 6 0.000 0.050 3460 1693 2296 0 0 0 0 0 0

7607 0.58 185.1 769.6 18.4 650 7609 0.10 0.00 0.00 0.000 6 0.182 0.000 3433 1692 2294 0 0 0 0 0 0

7916 0.58 185.1 721.3 15.0 665 7920 0.00 2.20 0.00 0.000 4 0.000 0.043 3433 3105 2293 0 0 0 0 0 0

7956 0.58 185.1 715.1 15.2 667 7960 0.00 2.22 0.00 0.000 6 0.000 0.050 3443 1702 2293 0 0 0 0 0 0

8283 0.58 185.1 667.1 14.6 683 8287 0.00 2.25 0.00 0.000 4 0.000 0.063 3454 293 2292 0 0 0 0 0 0

8332 0.58 185.1 659.3 15.4 685 8337 0.00 2.12 0.00 0.000 6 0.000 0.035 3453 1700 2290 0 0 0 0 0 0

8649 0.57 185.1 611.7 15.1 700 8654 0.08 2.17 0.00 0.000 4 0.194 0.044 3433 3108 2290 0 0 0 0 0 0

8739 0.59 191.2 599.0 13.5 704 8745 0.00 2.22 0.00 0.000 6 0.000 0.050 3443 1706 2290 0 0 0 0 0 0

9064 0.60 196.1 554.2 13.6 735 9075 0.00 0.00 6.62 0.809 6 0.000 0.000 3443 1705 2268 0 0 0 0 0 0

9392 0.61 205.2 510.8 13.3 766 9408 0.00 2.25 9.68 0.859 4 0.000 0.044 3443 3100 2231 0 0 0 0 0 0

9418 0.64 222.0 507.1 12.8 768 9440 0.00 2.22 16.65 0.901 6 0.000 0.049 3453 1708 2162 0 0 0 0 0 0

9760 0.65 222.0 459.3 14.1 800 9765 0.00 2.30 0.00 0.000 4 0.000 0.061 3464 289 2157 0 0 0 0 0 0

9800 0.65 222.0 453.3 15.9 803 9804 0.00 2.17 0.00 0.000 6 0.000 0.034 3464 1709 2155 0 0 0 0 0 0

10125 0.65 222.0 405.0 14.1 833 10126 0.00 0.00 0.00 0.000 6 0.000 0.000 3464 1711 2155 0 0 0 0 0 0

10445 0.65 222.0 361.3 14.0 863 10449 0.00 2.30 0.00 0.000 4 0.000 0.060 3475 286 2154 0 0 0 0 0 0

10478 0.65 222.0 356.0 15.6 866 10483 0.08 2.17 0.00 0.000 6 0.168 0.034 3452 1715 2153 0 0 0 0 0 0

10805 0.70 253.2 315.2 11.9 896 10839 0.10 2.30 27.08 0.783 4 0.098 0.056 3567 292 2034 0 0 0 0 0 0

10898 0.66 253.2 296.3 22.8 905 10906 0.32 2.15 0.00 0.000 6 0.118 0.033 3461 1697 2028 0 0 0 0 0 0

11244 0.68 253.2 248.3 14.0 966 11250 0.00 0.00 0.00 0.000 6 0.000 0.000 3461 1698 2025 0 0 0 0 0 0

11589 0.75 287.3 206.1 11.7 1027 11622 0.10 0.00 28.80 0.688 6 0.093 0.000 3569 1699 1895 0 0 0 0 0 0

11958 0.73 287.3 132.6 19.3 1092 11965 0.25 2.25 0.00 0.000 4 0.135 0.054 3493 286 1890 0 0 0 0 0 0

11995 0.75 287.3 126.7 15.2 1098 12002 0.00 2.12 0.00 0.000 6 0.000 0.031 3493 1694 1888 0 0 0 0 0 0

12337 0.91 380.2 91.6 7.9 1159 12417 0.15 0.00 74.30 0.590 6 0.066 0.000 3626 1694 1517 0 0 0 0 0 0

12755 0.89 380.2 4.5 21.4 1232 12762 0.25 0.00 0.00 0.000 6 0.083 0.000 3519 1695 1510 0 0 0 0 0 0

12909 end climb: NO_VERTICAL_VELOCITY

state 12909 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	479	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	43	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	-3883.062	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	121110,000337,2121.610,12602.274,24,1.2,25,-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	4.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121110,000832,2121.515,12602.282,11,1.4,11,-2.9	MHEAD_RNG_PITCHd_Wd	302.8,1873,-23.4,-13.889
SPEED_LIMITS	0.241,0.322	D_GRID	1000

FREEZE	3.70,26.563,-1.857,0,1,0	_10V_AH	10.1,47.242
SM_CCo	12912,128.07,0.498,0,0,415,650.78	FG_AHR_24Vo	0.000
SM_GC	4.36,8.35,0.00,0.00,0.018,0.000,0.000,103,1545,410,-9.71,-0.14,652.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12602.66,111110,202020	MEM	334008
TT8_MAMPS	0.026964	DATA_FILE_SIZE	73430,1259
HUMID	48.14	CAP_FILE_SIZE	146509,0
INTERNAL_PRESSURE	9.42419	CFSIZE	260165632,224043008
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	10	CURRENT	0.166,207.9,1
_24V_AH	23.2,67.374	GPS	121110,035137,2121.467,12559.813,31,1.0,31,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	209	117.20	SBE_CT	857	24	477.28
Roll_motor	97	69	157.11	AA4330	0	0	0.00
VBD_pump_during_apogee	478	1212	13453.45	WL_BB2F	0	0	0.00
VBD_pump_during_surface	128	498	1479.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	0	0.00	nil	0	0	0.00
Iridium_during_connect	22	0	0.00	nil	0	0	0.00
Iridium_during_xfer	125	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	24.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	0	0.00
TT8	3098	19	619.65
LPSleep	7295	2	161.38
TT8_Active	712	19	142.48
TT8_Sampling	2214	39	890.34
TT8_CF8	262	45	121.38
TT8_Kalman	0	0	0.00
Analog_circuits	1822	12	220.88
GPS_charging	0	0	0.00
Compass	2029	15	307.40
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.70	-143.6	0.0	0.0	0	23	0.00	0.00	-6.55	0.000	2	0.000	0.000	104	1540	621	0	0	0	0	0	0
26	-0.75	-185.1	4.6	-0.0	1	167	9.77	2.28	-121.15	0.000	4	0.166	0.057	3004	2950	3825	0	0	0	0	0	0
274	-0.75	-185.1	31.0	-20.6	43	282	0.00	2.20	0.00	0.000	6	0.000	0.046	3004	1549	3826	0	0	0	0	0	0
619	-0.71	-185.1	130.3	-22.2	104	626	0.08	0.00	0.00	0.000	6	0.194	0.000	3026	1549	3826	0	0	0	0	0	0
962	-0.73	-185.1	195.7	-17.8	165	968	0.00	2.12	0.00	0.000	4	0.000	0.052	3026	165	3827	0	0	0	0	0	0
998	-0.74	-185.1	202.4	-17.9	171	1006	0.00	2.10	0.00	0.000	6	0.000	0.039	3018	1547	3827	0	0	0	0	0	0
1344	-0.75	-185.1	259.2	-15.9	232	1351	0.00	2.20	0.00	0.000	4	0.000	0.047	3008	2958	3827	0	0	0	0	0	0
1419	-0.80	-185.1	269.7	-12.3	245	1426	0.00	2.17	0.00	0.000	6	0.000	0.044	3008	1551	3826	0	0	0	0	0	0
1755	-0.82	-185.1	321.0	-15.4	293	1759	0.08	2.17	0.00	0.000	4	0.122	0.054	2872	164	3827	0	0	0	0	0	0
1795	-0.75	-185.1	330.5	-27.8	296	1800	0.47	2.10	0.00	0.000	6	0.119	0.039	3016	1549	3826	0	0	0	0	0	0
2121	-0.78	-185.1	378.7	-13.4	326	2124	0.00	2.17	0.00	0.000	4	0.000	0.047	3006	2963	3825	0	0	0	0	0	0
2165	-0.83	-185.1	384.6	-11.4	329	2172	0.08	2.17	0.00	0.000	6	0.114	0.044	2898	1549	3825	0	0	0	0	0	0
2491	-0.79	-185.1	459.4	-24.0	360	2496	0.28	2.15	0.00	0.000	4	0.118	0.053	2997	166	3823	0	0	0	0	0	0
2513	-0.76	-185.1	464.6	-21.6	361	2520	0.08	2.12	0.00	0.000	6	0.171	0.039	3012	1558	3823	0	0	0	0	0	0
2839	-0.80	-185.1	503.5	-11.1	392	2844	0.08	2.17	0.00	0.000	4	0.120	0.046	2885	2964	3821	0	0	0	0	0	0
2895	-0.78	-185.1	513.7	-19.9	396	2902	0.35	2.20	0.00	0.000	6	0.106	0.046	3003	1552	3820	0	0	0	0	0	0
3221	-0.82	-185.1	552.1	-10.7	427	3225	0.00	2.20	0.00	0.000	4	0.000	0.048	2996	2959	3817	0	0	0	0	0	0
3265	-0.88	-185.1	557.0	-9.6	430	3272	0.10	2.20	0.00	0.000	6	0.090	0.047	2884	1553	3817	0	0	0	0	0	0
3598	-0.83	-185.1	627.8	-22.0	456	3600	0.32	0.00	0.00	0.000	6	0.115	0.000	2992	1551	3814	0	0	0	0	0	0
3907	-0.86	-185.1	664.8	-11.5	471	3911	0.00	2.20	0.00	0.000	4	0.000	0.049	2984	2956	3811	0	0	0	0	0	0
3951	-0.92	-185.1	670.0	-10.8	473	3955	0.10	2.20	0.00	0.000	6	0.089	0.049	2875	1562	3811	0	0	0	0	0	0
4273	-0.87	-185.1	740.1	-22.8	489	4277	0.28	2.22	0.00	0.000	4	0.118	0.057	2972	166	3808	0	0	0	0	0	0
4294	-0.85	-185.1	745.0	-19.7	490	4298	0.05	2.15	0.00	0.000	6	0.207	0.042	2979	1559	3807	0	0	0	0	0	0
4623	-0.88	-185.1	787.0	-12.7	506	4627	0.00	2.17	0.00	0.000	4	0.000	0.049	2970	2966	3804	0	0	0	0	0	0
4656	-0.93	-185.1	791.5	-11.7	507	4664	0.00	2.22	0.00	0.000	6	0.000	0.050	2970	1563	3804	0	0	0	0	0	0
4974	-0.95	-185.1	832.9	-13.3	523	4978	0.08	2.22	0.00	0.000	4	0.120	0.050	2853	2963	3800	0	0	0	0	0	0
4994	-0.95	-185.1	836.7	-15.7	524	4999	0.28	2.22	0.00	0.000	6	0.112	0.050	2946	1564	3800	0	0	0	0	0	0
5316	-0.96	-185.1	886.4	-15.3	540	5317	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	1563	3799	0	0	0	0	0	0
5626	-0.97	-185.1	931.0	-13.9	555	5627	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	1563	3796	0	0	0	0	0	0
5935	-0.98	-185.1	972.1	-13.0	570	5936	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	1563	3793	0	0	0	0	0	0
6159	end dive: TARGET_DEPTH_EXCEEDED
state	6159	begin apogee
6165	0.00	0.0	1000.9	12.6	581	6325	0.85	0.00	153.20	1.213	4	0.090	0.000	3253	1715	3068	0	0	0	0	0	0
6326	end apogee: CONTROL_FINISHED_OK
state	6326	begin climb
6328	0.75	185.1	1006.0	0.0	588	6498	0.65	2.30	161.93	1.138	4	0.028	0.049	3546	3102	2313	0	0	0	0	0	0
6627	0.68	185.1	952.6	25.8	602	6632	0.30	2.28	0.00	0.000	6	0.155	0.048	3469	1700	2304	0	0	0	0	0	0
6950	0.65	185.1	891.8	18.4	618	6951	0.00	0.00	0.00	0.000	6	0.000	0.000	3469	1699	2298	0	0	0	0	0	0
7258	0.62	185.1	833.9	18.7	633	7263	0.08	2.17	0.00	0.000	4	0.210	0.042	3449	3106	2296	0	0	0	0	0	0
7279	0.60	185.1	829.3	19.8	634	7284	0.00	2.25	0.00	0.000	6	0.000	0.050	3460	1693	2296	0	0	0	0	0	0
7607	0.58	185.1	769.6	18.4	650	7609	0.10	0.00	0.00	0.000	6	0.182	0.000	3433	1692	2294	0	0	0	0	0	0
7916	0.58	185.1	721.3	15.0	665	7920	0.00	2.20	0.00	0.000	4	0.000	0.043	3433	3105	2293	0	0	0	0	0	0
7956	0.58	185.1	715.1	15.2	667	7960	0.00	2.22	0.00	0.000	6	0.000	0.050	3443	1702	2293	0	0	0	0	0	0
8283	0.58	185.1	667.1	14.6	683	8287	0.00	2.25	0.00	0.000	4	0.000	0.063	3454	293	2292	0	0	0	0	0	0
8332	0.58	185.1	659.3	15.4	685	8337	0.00	2.12	0.00	0.000	6	0.000	0.035	3453	1700	2290	0	0	0	0	0	0
8649	0.57	185.1	611.7	15.1	700	8654	0.08	2.17	0.00	0.000	4	0.194	0.044	3433	3108	2290	0	0	0	0	0	0
8739	0.59	191.2	599.0	13.5	704	8745	0.00	2.22	0.00	0.000	6	0.000	0.050	3443	1706	2290	0	0	0	0	0	0
9064	0.60	196.1	554.2	13.6	735	9075	0.00	0.00	6.62	0.809	6	0.000	0.000	3443	1705	2268	0	0	0	0	0	0
9392	0.61	205.2	510.8	13.3	766	9408	0.00	2.25	9.68	0.859	4	0.000	0.044	3443	3100	2231	0	0	0	0	0	0
9418	0.64	222.0	507.1	12.8	768	9440	0.00	2.22	16.65	0.901	6	0.000	0.049	3453	1708	2162	0	0	0	0	0	0
9760	0.65	222.0	459.3	14.1	800	9765	0.00	2.30	0.00	0.000	4	0.000	0.061	3464	289	2157	0	0	0	0	0	0
9800	0.65	222.0	453.3	15.9	803	9804	0.00	2.17	0.00	0.000	6	0.000	0.034	3464	1709	2155	0	0	0	0	0	0
10125	0.65	222.0	405.0	14.1	833	10126	0.00	0.00	0.00	0.000	6	0.000	0.000	3464	1711	2155	0	0	0	0	0	0
10445	0.65	222.0	361.3	14.0	863	10449	0.00	2.30	0.00	0.000	4	0.000	0.060	3475	286	2154	0	0	0	0	0	0
10478	0.65	222.0	356.0	15.6	866	10483	0.08	2.17	0.00	0.000	6	0.168	0.034	3452	1715	2153	0	0	0	0	0	0
10805	0.70	253.2	315.2	11.9	896	10839	0.10	2.30	27.08	0.783	4	0.098	0.056	3567	292	2034	0	0	0	0	0	0
10898	0.66	253.2	296.3	22.8	905	10906	0.32	2.15	0.00	0.000	6	0.118	0.033	3461	1697	2028	0	0	0	0	0	0
11244	0.68	253.2	248.3	14.0	966	11250	0.00	0.00	0.00	0.000	6	0.000	0.000	3461	1698	2025	0	0	0	0	0	0
11589	0.75	287.3	206.1	11.7	1027	11622	0.10	0.00	28.80	0.688	6	0.093	0.000	3569	1699	1895	0	0	0	0	0	0
11958	0.73	287.3	132.6	19.3	1092	11965	0.25	2.25	0.00	0.000	4	0.135	0.054	3493	286	1890	0	0	0	0	0	0
11995	0.75	287.3	126.7	15.2	1098	12002	0.00	2.12	0.00	0.000	6	0.000	0.031	3493	1694	1888	0	0	0	0	0	0
12337	0.91	380.2	91.6	7.9	1159	12417	0.15	0.00	74.30	0.590	6	0.066	0.000	3626	1694	1517	0	0	0	0	0	0
12755	0.89	380.2	4.5	21.4	1232	12762	0.25	0.00	0.00	0.000	6	0.083	0.000	3519	1695	1510	0	0	0	0	0	0
12909	end climb: NO_VERTICAL_VELOCITY
state	12909	begin surface