Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 695 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING -1 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 4 ESCAPE_HEADING 0 ROLL_DEG 43 ALTIM_PING_DEPTH 0

DIVE 695 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2175 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2060 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 325 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 2.5 N_FILEKB 8 R_STBD_OVSHOOT 39 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_FINISH 10 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2735 DEVICE3 83

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 540 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 600 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00060000003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 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 -1 T_GPS_CHARGE -1585619.8 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 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 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 -7 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 120 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2920 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543768

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -60.973145 SEABIRD_T_H 0.0006249955

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3401506e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4672308e-06

MASS 51930 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9855604

NAV_MODE 1 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1126566

FERRY_MAX 45 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0021479612

KALMAN_USE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002479906

HD_A 0.0046000001 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 12

HD_C 1.34e-05 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 325

AH0_10V 100 D_OFFGRID 1000 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 2 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3970 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 155 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00060000003 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001138132 T_DIVE 540

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -60.973145 T_GPS 15

CALL_TRIES 5 HD_A 0.0046000001 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1585619.8

CAPMAXSIZE 100000 HD_C 1.34e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 600

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ID 187 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2920 KALMAN_USE 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2060 KERMIT 0 ROLL_DEG 43 USE_BATHY -1

C_ROLL_DIVE 2175 LOGGERDEVICE1 -1 ROLL_MAX 3800 USE_ICE 0

C_VBD 2735 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 32 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DEVICE3 83 MAX_BUOY 120 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MISSION 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 695 MOTHERBOARD 4 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 NAV_MODE 1 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 2.5 N_FILEKB 8 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.4672308e-06

D_FINISH 10 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 300811,125836,4748.703,-12516.825,30,1.4,30,18.7 TGT_NAME SHELF

_CALLS 1 TGT_LATLONG 4751.300,-12511.480

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.100,0.173

_SM_DEPTHo 1.93 KALMAN_X 361616.5,481.3,-467.0,-373712.7,1422.6

_SM_ANGLEo -74.0 KALMAN_Y -778373.8,1096.0,804.9,780408.8,-4137.1

GPS2 300811,130344,4748.641,-12516.847,16,1.4,16,18.7 MHEAD_RNG_PITCHd_Wd 11.5,8290,-13.6,-6.111

SPEED_LIMITS 0.106,0.200 D_GRID 490

Post-dive calculations and measurements:

FINISH 1.1,NaN _10V_AH 9.8,82.283

SM_CCo 14986,7.40,0.088,1,0,1411,325.02 FG_AHR_24Vo 0.000

SM_GC 3.34,0.00,0.00,7.40,0.000,0.000,0.088,122,2183,1411,-8.75,0.23,325.02 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12517.37,300811,070735 MEM 297712

TT8_MAMPS 0.027713 DATA_FILE_SIZE 3690,66

HUMID 43.10 CAP_FILE_SIZE 114454,0

INTERNAL_PRESSURE 9.09876 CFSIZE 260165632,158289920

TCM_TEMP 19.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 GPS 300811,171655,4749.560,-12515.367,99,1.0,99,18.7

_24V_AH 23.3,79.658

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 222 106.72 SBE_CT 0 0 0.00

Roll_motor 99 101 236.71 SBE_O2 0 0 0.00

VBD_pump_during_apogee 379 891 7873.26 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 7 87 15.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 0 0.00 nil 0 0 0.00

Iridium_during_connect 32 0 0.00 nil 0 0 0.00

Iridium_during_xfer 119 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 0 0.00

TT8 598 19 116.18

LPSleep 12300 2 264.00

TT8_Active 448 19 87.02

TT8_Sampling 1675 39 653.54

TT8_CF8 280 45 126.06

TT8_Kalman 33 0 0.00

Analog_circuits 1276 12 150.17

GPS_charging 0 0 0.00

Compass 1454 15 213.77

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 -0.50 -117.3 0.0 0.0 0 98 0.00 0.00 -80.78 0.000 6 0.000 0.000 125 2189 3215 0 0 0 0 0 0

101 -0.50 -117.3 0.0 -0.0 0 117 10.60 2.35 0.00 0.000 4 0.223 0.037 2751 645 3219 0 0 0 0 0 0

139 -0.38 -117.3 25.0 -29.9 0 144 0.17 2.35 0.00 0.000 6 0.137 0.049 2792 2165 3220 0 0 0 0 0 0

404 -0.38 -117.3 49.6 -8.8 3 405 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2165 3222 0 0 0 0 0 0

603 -0.38 -117.3 65.1 -8.2 5 604 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2165 3223 0 0 0 0 0 0

804 -0.38 -117.3 79.6 -7.4 7 808 0.00 2.33 0.00 0.000 4 0.000 0.049 2792 656 3224 0 0 0 0 0 0

839 -0.39 -117.3 82.2 -8.0 7 844 0.00 2.33 0.00 0.000 6 0.000 0.047 2791 2168 3224 0 0 0 0 0 0

1109 -0.40 -117.3 99.4 -6.2 10 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2168 3224 0 0 0 0 0 0

1510 -0.42 -117.3 125.3 -6.3 12 1514 0.00 2.33 0.00 0.000 4 0.000 0.050 2790 661 3223 0 0 0 0 0 0

1556 -0.44 -117.3 128.3 -7.1 12 1560 0.00 2.33 0.00 0.000 6 0.000 0.047 2791 2162 3223 0 0 0 0 0 0

2138 -0.47 -117.3 161.4 -5.1 14 2142 0.00 2.42 0.00 0.000 4 0.000 0.060 2791 3691 3223 0 0 0 0 0 0

2265 -0.52 -117.3 168.0 -5.6 14 2269 0.12 2.42 0.00 0.000 6 0.086 0.043 2722 2113 3222 0 0 0 0 0 0

2769 -0.51 -117.3 208.8 -8.7 16 2774 0.12 2.28 0.00 0.000 4 0.136 0.051 2760 660 3222 0 0 0 0 0 0

2836 -0.52 -117.3 214.0 -6.8 16 2840 0.00 2.25 0.00 0.000 6 0.000 0.048 2754 2126 3222 0 0 0 0 0 0

3394 -0.52 -117.3 252.9 -6.8 18 3395 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2126 3221 0 0 0 0 0 0

3695 -0.52 -117.3 273.3 -6.8 19 3696 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2126 3220 0 0 0 0 0 0

3995 -0.52 -117.3 293.3 -6.8 20 3999 0.00 2.30 0.00 0.000 4 0.000 0.053 2754 664 3220 0 0 0 0 0 0

4044 -0.52 -117.3 296.8 -7.3 20 4048 0.00 2.28 0.00 0.000 6 0.000 0.050 2747 2125 3220 0 0 0 0 0 0

4632 -0.52 -117.3 336.6 -6.6 22 4633 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2125 3218 0 0 0 0 0 0

4932 -0.52 -117.3 355.9 -6.5 23 4933 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2125 3218 0 0 0 0 0 0

5234 -0.52 -117.3 374.5 -6.4 24 5238 0.00 2.33 0.00 0.000 4 0.000 0.054 2747 664 3217 0 0 0 0 0 0

5273 -0.52 -117.3 377.3 -6.9 24 5277 0.00 2.28 0.00 0.000 6 0.000 0.051 2742 2126 3217 0 0 0 0 0 0

5862 -0.52 -117.3 418.8 -7.2 26 5864 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2126 3217 0 0 0 0 0 0

6161 -0.52 -117.3 440.9 -7.3 27 6162 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2126 3216 0 0 0 0 0 0

6462 -0.52 -117.3 462.9 -7.3 28 6463 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2126 3216 0 0 0 0 0 0

6762 -0.52 -117.3 482.9 -7.2 29 6766 0.00 2.33 0.00 0.000 4 0.000 0.055 2742 664 3216 0 0 0 0 0 0

6813 -0.52 -117.3 486.5 -7.8 29 6817 0.00 2.28 0.00 0.000 6 0.000 0.052 2734 2121 3216 0 0 0 0 0 0

6860 end dive: TARGET_DEPTH_EXCEEDED

state 6860 begin apogee

6868 -0.22 0.0 490.0 7.3 29 6975 0.32 0.00 99.38 0.891 6 0.106 0.000 2846 2049 2734 0 0 0 0 0 0

6975 end apogee: CONTROL_FINISHED_OK

state 6975 begin climb

6979 0.50 117.3 493.1 0.0 29 7092 0.65 2.53 103.70 0.867 4 0.068 0.054 3093 555 2255 0 0 0 0 0 0

7115 0.47 117.3 487.4 7.1 30 7119 0.00 2.45 0.00 0.000 6 0.000 0.047 3093 2062 2252 0 0 0 0 0 0

7707 0.45 117.3 441.8 7.5 32 7712 0.00 2.40 0.00 0.000 4 0.000 0.060 3093 3577 2244 0 0 0 0 0 0

7770 0.42 117.3 436.5 9.0 32 7776 0.17 2.38 0.00 0.000 6 0.145 0.045 3053 2067 2243 0 0 0 0 0 0

8335 0.42 129.6 403.0 5.7 34 8350 0.00 2.45 9.57 0.749 4 0.000 0.061 3053 3582 2205 0 0 0 0 0 0

8374 0.42 129.6 400.7 6.7 34 8378 0.00 2.38 0.00 0.000 6 0.000 0.046 3060 2060 2204 0 0 0 0 0 0

8963 0.42 129.6 362.6 6.6 36 8964 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2059 2203 0 0 0 0 0 0

9261 0.42 129.6 342.6 6.6 37 9262 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2057 2203 0 0 0 0 0 0

9562 0.42 129.6 323.2 6.6 38 9566 0.00 2.45 0.00 0.000 4 0.000 0.060 3061 3579 2203 0 0 0 0 0 0

9595 0.41 129.6 320.9 7.9 38 9599 0.00 2.38 0.00 0.000 6 0.000 0.046 3072 2065 2201 0 0 0 0 0 0

10187 0.41 129.6 281.5 6.4 40 10188 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2063 2201 0 0 0 0 0 0

10487 0.41 129.6 264.3 6.1 41 10488 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2063 2201 0 0 0 0 0 0

10788 0.41 133.3 246.9 6.0 42 10797 0.00 2.42 4.12 0.516 4 0.000 0.054 3082 538 2191 0 0 0 0 0 0

10816 0.41 133.3 245.1 6.4 42 10820 0.00 2.38 0.00 0.000 6 0.000 0.050 3083 2076 2190 0 0 0 0 0 0

11421 0.40 133.3 200.2 7.6 44 11426 0.12 2.40 0.00 0.000 4 0.148 0.060 3046 3580 2190 0 0 0 0 0 0

11451 0.40 133.3 198.1 6.5 44 11456 0.00 2.35 0.00 0.000 6 0.000 0.046 3054 2066 2189 0 0 0 0 0 0

12052 0.40 140.2 164.1 5.9 46 12066 0.00 2.47 7.60 0.600 4 0.000 0.061 3054 3575 2163 0 0 0 0 0 0

12083 0.41 147.2 162.0 5.9 46 12097 0.00 2.33 7.95 0.602 6 0.000 0.046 3055 2074 2133 0 0 0 0 0 0

12685 0.42 167.4 128.6 5.4 48 12710 0.00 2.45 18.52 0.653 4 0.000 0.055 3054 552 2051 0 0 0 0 0 0

12735 0.45 198.3 126.2 5.0 48 12768 0.00 2.35 27.02 0.655 6 0.000 0.047 3054 2075 1925 0 0 0 0 0 0

13319 0.48 218.5 94.9 5.4 50 13342 0.00 2.45 16.92 0.623 4 0.000 0.059 3054 3574 1843 0 0 0 0 0 0

13362 0.50 218.5 92.2 6.5 50 13366 0.00 2.35 0.00 0.000 6 0.000 0.044 3054 2066 1842 0 0 0 0 0 0

13625 0.53 225.7 76.5 5.9 53 13640 0.10 2.45 7.50 0.553 4 0.099 0.055 3121 550 1813 0 0 0 0 0 0

13698 0.53 225.7 71.1 7.4 53 13702 0.00 2.35 0.00 0.000 6 0.000 0.047 3121 2067 1812 0 0 0 0 0 0

13938 0.53 225.7 52.7 7.6 56 13942 0.00 2.38 0.00 0.000 4 0.000 0.058 3121 3577 1810 0 0 0 0 0 0

13976 0.53 225.7 49.8 7.6 56 13981 0.12 2.35 0.00 0.000 6 0.142 0.044 3092 2057 1810 0 0 0 0 0 0

14241 0.57 258.1 36.2 5.0 59 14276 0.00 2.42 27.60 0.601 4 0.000 0.054 3093 550 1681 0 0 0 0 0 0

14318 0.62 290.9 32.6 5.0 59 14352 0.00 2.33 27.33 0.591 6 0.000 0.046 3093 2060 1548 0 0 0 0 0 0

14561 0.68 317.5 20.2 5.2 62 14591 0.12 2.47 21.92 0.578 4 0.088 0.054 3173 545 1439 0 0 0 0 0 0

14657 0.69 317.5 14.0 6.1 62 14661 0.00 2.22 0.00 0.000 6 0.000 0.047 3173 1987 1436 0 0 0 0 0 0

14868 end climb: SURFACE_DEPTH_REACHED

state 14868 begin surface coast

14968 end surface coast: CONTROL_FINISHED_OK

state 14968 begin surface

ID	187	HEADING	-1	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	4	ESCAPE_HEADING	0	ROLL_DEG	43	ALTIM_PING_DEPTH	0
DIVE	695	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2175	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2060	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	325	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	2.5	N_FILEKB	8	R_STBD_OVSHOOT	39	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_FINISH	10	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2735	DEVICE3	83
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	540	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	600	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00060000003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	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	-1	T_GPS_CHARGE	-1585619.8	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	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	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	-7	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	120	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2920	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543768
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-60.973145	SEABIRD_T_H	0.0006249955
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3401506e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4672308e-06
MASS	51930	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9855604
NAV_MODE	1	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1126566
FERRY_MAX	45	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0021479612
KALMAN_USE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002479906
HD_A	0.0046000001	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	12
HD_C	1.34e-05	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0

GPS1	300811,125836,4748.703,-12516.825,30,1.4,30,18.7	TGT_NAME	SHELF
_CALLS	1	TGT_LATLONG	4751.300,-12511.480
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.100,0.173
_SM_DEPTHo	1.93	KALMAN_X	361616.5,481.3,-467.0,-373712.7,1422.6
_SM_ANGLEo	-74.0	KALMAN_Y	-778373.8,1096.0,804.9,780408.8,-4137.1
GPS2	300811,130344,4748.641,-12516.847,16,1.4,16,18.7	MHEAD_RNG_PITCHd_Wd	11.5,8290,-13.6,-6.111
SPEED_LIMITS	0.106,0.200	D_GRID	490

FINISH	1.1,NaN	_10V_AH	9.8,82.283
SM_CCo	14986,7.40,0.088,1,0,1411,325.02	FG_AHR_24Vo	0.000
SM_GC	3.34,0.00,0.00,7.40,0.000,0.000,0.088,122,2183,1411,-8.75,0.23,325.02	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12517.37,300811,070735	MEM	297712
TT8_MAMPS	0.027713	DATA_FILE_SIZE	3690,66
HUMID	43.10	CAP_FILE_SIZE	114454,0
INTERNAL_PRESSURE	9.09876	CFSIZE	260165632,158289920
TCM_TEMP	19.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	GPS	300811,171655,4749.560,-12515.367,99,1.0,99,18.7
_24V_AH	23.3,79.658

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	222	106.72	SBE_CT	0	0	0.00
Roll_motor	99	101	236.71	SBE_O2	0	0	0.00
VBD_pump_during_apogee	379	891	7873.26	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	7	87	15.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	0	0.00	nil	0	0	0.00
Iridium_during_connect	32	0	0.00	nil	0	0	0.00
Iridium_during_xfer	119	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	0	0.00
TT8	598	19	116.18
LPSleep	12300	2	264.00
TT8_Active	448	19	87.02
TT8_Sampling	1675	39	653.54
TT8_CF8	280	45	126.06
TT8_Kalman	33	0	0.00
Analog_circuits	1276	12	150.17
GPS_charging	0	0	0.00
Compass	1454	15	213.77
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	-0.50	-117.3	0.0	0.0	0	98	0.00	0.00	-80.78	0.000	6	0.000	0.000	125	2189	3215	0	0	0	0	0	0
101	-0.50	-117.3	0.0	-0.0	0	117	10.60	2.35	0.00	0.000	4	0.223	0.037	2751	645	3219	0	0	0	0	0	0
139	-0.38	-117.3	25.0	-29.9	0	144	0.17	2.35	0.00	0.000	6	0.137	0.049	2792	2165	3220	0	0	0	0	0	0
404	-0.38	-117.3	49.6	-8.8	3	405	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2165	3222	0	0	0	0	0	0
603	-0.38	-117.3	65.1	-8.2	5	604	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2165	3223	0	0	0	0	0	0
804	-0.38	-117.3	79.6	-7.4	7	808	0.00	2.33	0.00	0.000	4	0.000	0.049	2792	656	3224	0	0	0	0	0	0
839	-0.39	-117.3	82.2	-8.0	7	844	0.00	2.33	0.00	0.000	6	0.000	0.047	2791	2168	3224	0	0	0	0	0	0
1109	-0.40	-117.3	99.4	-6.2	10	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2168	3224	0	0	0	0	0	0
1510	-0.42	-117.3	125.3	-6.3	12	1514	0.00	2.33	0.00	0.000	4	0.000	0.050	2790	661	3223	0	0	0	0	0	0
1556	-0.44	-117.3	128.3	-7.1	12	1560	0.00	2.33	0.00	0.000	6	0.000	0.047	2791	2162	3223	0	0	0	0	0	0
2138	-0.47	-117.3	161.4	-5.1	14	2142	0.00	2.42	0.00	0.000	4	0.000	0.060	2791	3691	3223	0	0	0	0	0	0
2265	-0.52	-117.3	168.0	-5.6	14	2269	0.12	2.42	0.00	0.000	6	0.086	0.043	2722	2113	3222	0	0	0	0	0	0
2769	-0.51	-117.3	208.8	-8.7	16	2774	0.12	2.28	0.00	0.000	4	0.136	0.051	2760	660	3222	0	0	0	0	0	0
2836	-0.52	-117.3	214.0	-6.8	16	2840	0.00	2.25	0.00	0.000	6	0.000	0.048	2754	2126	3222	0	0	0	0	0	0
3394	-0.52	-117.3	252.9	-6.8	18	3395	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2126	3221	0	0	0	0	0	0
3695	-0.52	-117.3	273.3	-6.8	19	3696	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2126	3220	0	0	0	0	0	0
3995	-0.52	-117.3	293.3	-6.8	20	3999	0.00	2.30	0.00	0.000	4	0.000	0.053	2754	664	3220	0	0	0	0	0	0
4044	-0.52	-117.3	296.8	-7.3	20	4048	0.00	2.28	0.00	0.000	6	0.000	0.050	2747	2125	3220	0	0	0	0	0	0
4632	-0.52	-117.3	336.6	-6.6	22	4633	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2125	3218	0	0	0	0	0	0
4932	-0.52	-117.3	355.9	-6.5	23	4933	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2125	3218	0	0	0	0	0	0
5234	-0.52	-117.3	374.5	-6.4	24	5238	0.00	2.33	0.00	0.000	4	0.000	0.054	2747	664	3217	0	0	0	0	0	0
5273	-0.52	-117.3	377.3	-6.9	24	5277	0.00	2.28	0.00	0.000	6	0.000	0.051	2742	2126	3217	0	0	0	0	0	0
5862	-0.52	-117.3	418.8	-7.2	26	5864	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2126	3217	0	0	0	0	0	0
6161	-0.52	-117.3	440.9	-7.3	27	6162	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2126	3216	0	0	0	0	0	0
6462	-0.52	-117.3	462.9	-7.3	28	6463	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2126	3216	0	0	0	0	0	0
6762	-0.52	-117.3	482.9	-7.2	29	6766	0.00	2.33	0.00	0.000	4	0.000	0.055	2742	664	3216	0	0	0	0	0	0
6813	-0.52	-117.3	486.5	-7.8	29	6817	0.00	2.28	0.00	0.000	6	0.000	0.052	2734	2121	3216	0	0	0	0	0	0
6860	end dive: TARGET_DEPTH_EXCEEDED
state	6860	begin apogee
6868	-0.22	0.0	490.0	7.3	29	6975	0.32	0.00	99.38	0.891	6	0.106	0.000	2846	2049	2734	0	0	0	0	0	0
6975	end apogee: CONTROL_FINISHED_OK
state	6975	begin climb
6979	0.50	117.3	493.1	0.0	29	7092	0.65	2.53	103.70	0.867	4	0.068	0.054	3093	555	2255	0	0	0	0	0	0
7115	0.47	117.3	487.4	7.1	30	7119	0.00	2.45	0.00	0.000	6	0.000	0.047	3093	2062	2252	0	0	0	0	0	0
7707	0.45	117.3	441.8	7.5	32	7712	0.00	2.40	0.00	0.000	4	0.000	0.060	3093	3577	2244	0	0	0	0	0	0
7770	0.42	117.3	436.5	9.0	32	7776	0.17	2.38	0.00	0.000	6	0.145	0.045	3053	2067	2243	0	0	0	0	0	0
8335	0.42	129.6	403.0	5.7	34	8350	0.00	2.45	9.57	0.749	4	0.000	0.061	3053	3582	2205	0	0	0	0	0	0
8374	0.42	129.6	400.7	6.7	34	8378	0.00	2.38	0.00	0.000	6	0.000	0.046	3060	2060	2204	0	0	0	0	0	0
8963	0.42	129.6	362.6	6.6	36	8964	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2059	2203	0	0	0	0	0	0
9261	0.42	129.6	342.6	6.6	37	9262	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2057	2203	0	0	0	0	0	0
9562	0.42	129.6	323.2	6.6	38	9566	0.00	2.45	0.00	0.000	4	0.000	0.060	3061	3579	2203	0	0	0	0	0	0
9595	0.41	129.6	320.9	7.9	38	9599	0.00	2.38	0.00	0.000	6	0.000	0.046	3072	2065	2201	0	0	0	0	0	0
10187	0.41	129.6	281.5	6.4	40	10188	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2063	2201	0	0	0	0	0	0
10487	0.41	129.6	264.3	6.1	41	10488	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2063	2201	0	0	0	0	0	0
10788	0.41	133.3	246.9	6.0	42	10797	0.00	2.42	4.12	0.516	4	0.000	0.054	3082	538	2191	0	0	0	0	0	0
10816	0.41	133.3	245.1	6.4	42	10820	0.00	2.38	0.00	0.000	6	0.000	0.050	3083	2076	2190	0	0	0	0	0	0
11421	0.40	133.3	200.2	7.6	44	11426	0.12	2.40	0.00	0.000	4	0.148	0.060	3046	3580	2190	0	0	0	0	0	0
11451	0.40	133.3	198.1	6.5	44	11456	0.00	2.35	0.00	0.000	6	0.000	0.046	3054	2066	2189	0	0	0	0	0	0
12052	0.40	140.2	164.1	5.9	46	12066	0.00	2.47	7.60	0.600	4	0.000	0.061	3054	3575	2163	0	0	0	0	0	0
12083	0.41	147.2	162.0	5.9	46	12097	0.00	2.33	7.95	0.602	6	0.000	0.046	3055	2074	2133	0	0	0	0	0	0
12685	0.42	167.4	128.6	5.4	48	12710	0.00	2.45	18.52	0.653	4	0.000	0.055	3054	552	2051	0	0	0	0	0	0
12735	0.45	198.3	126.2	5.0	48	12768	0.00	2.35	27.02	0.655	6	0.000	0.047	3054	2075	1925	0	0	0	0	0	0
13319	0.48	218.5	94.9	5.4	50	13342	0.00	2.45	16.92	0.623	4	0.000	0.059	3054	3574	1843	0	0	0	0	0	0
13362	0.50	218.5	92.2	6.5	50	13366	0.00	2.35	0.00	0.000	6	0.000	0.044	3054	2066	1842	0	0	0	0	0	0
13625	0.53	225.7	76.5	5.9	53	13640	0.10	2.45	7.50	0.553	4	0.099	0.055	3121	550	1813	0	0	0	0	0	0
13698	0.53	225.7	71.1	7.4	53	13702	0.00	2.35	0.00	0.000	6	0.000	0.047	3121	2067	1812	0	0	0	0	0	0
13938	0.53	225.7	52.7	7.6	56	13942	0.00	2.38	0.00	0.000	4	0.000	0.058	3121	3577	1810	0	0	0	0	0	0
13976	0.53	225.7	49.8	7.6	56	13981	0.12	2.35	0.00	0.000	6	0.142	0.044	3092	2057	1810	0	0	0	0	0	0
14241	0.57	258.1	36.2	5.0	59	14276	0.00	2.42	27.60	0.601	4	0.000	0.054	3093	550	1681	0	0	0	0	0	0
14318	0.62	290.9	32.6	5.0	59	14352	0.00	2.33	27.33	0.591	6	0.000	0.046	3093	2060	1548	0	0	0	0	0	0
14561	0.68	317.5	20.2	5.2	62	14591	0.12	2.47	21.92	0.578	4	0.088	0.054	3173	545	1439	0	0	0	0	0	0
14657	0.69	317.5	14.0	6.1	62	14661	0.00	2.22	0.00	0.000	6	0.000	0.047	3173	1987	1436	0	0	0	0	0	0
14868	end climb: SURFACE_DEPTH_REACHED
state	14868	begin surface coast
14968	end surface coast: CONTROL_FINISHED_OK
state	14968	begin surface