Glider dive log

PortSusan 14Dec09 * SG505 * Dive index * Mission links * Dive 74 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 505 HEADING -1 ROLL_MIN 175 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3810 ALTIM_TOP_TURN_MARGIN 0

DIVE 74 ESCAPE_HEADING_DELTA 10 ROLL_DEG 50 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1700 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1680 ALTIM_PING_DELTA 5

D_TGT 150 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 5 ALTIM_FREQUENCY 13

D_ABORT 250 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 6

D_NO_BLEED 500 SM_CC 480 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 1

D_BOOST 120 N_FILEKB 4 R_PORT_OVSHOOT 29 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 39 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.80000001

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 450 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 83 CALL_TRIES 5 C_VBD 2807 DEVICE2 -1

T_MISSION 90 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.245296 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -23240.326 UNCOM_BLEED 20 LOGGERDEVICE3 -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

D_OFFGRID 1001 STROBE 0 CF8_MAXERRORS 20 COMPASS_DEVICE 33

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 COMPASS2_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 PHONE_DEVICE 48

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 GPS_DEVICE 32

MAX_BUOY 220 PITCH_MIN 110 MINV_10V 8 RAFOS_DEVICE -1

COURSE_BIAS 0 PITCH_MAX 3893 FG_AHR_10V 0 XPDR_DEVICE 24

GLIDE_SLOPE 30 C_PITCH 2835 FG_AHR_24V 0 SIM_W 0

SPEED_FACTOR 1 PITCH_DBAND 0.050000001 PHONE_SUPPLY 2 SIM_PITCH 0

RHO 1.0273 PITCH_CNV 0.003125763 PRESSURE_YINT -66.661293 SEABIRD_T_G 0.0042964104

MASS 52152 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011485742 SEABIRD_T_H 0.00061985431

NAV_MODE 1 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_T_I 2.235871e-05

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3254006e-06

KALMAN_USE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7945118

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_H 1.1383005

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0013506444

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018750974

AD7714Ch0Gain 128 D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.3254006e-06

AH0_10V 100 D_NO_BLEED 500 N_NOSURFACE 0 SIM_PITCH 0

AH0_24V 150 D_OFFGRID 1001 PHONE_DEVICE 48 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 480

ALTIM_BOTTOM_TURN_MARGIN 10 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_DELTA 5 D_TGT 150 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 6 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 1 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MAX 3893 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MIN 110 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 32 PRESSURE_SLOPE 0.00011485742 T_DIVE 83

CALL_WAIT 60 HD_A 0.003 PRESSURE_YINT -66.661293 T_GPS 15

CAPMAXSIZE 200000 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -23240.326

CF8_MAXERRORS 20 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 5 RAFOS_HIT_WINDOW 3600 T_MISSION 90

COMPASS2_DEVICE -1 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_USE 0 ID 505 RHO 1.0273 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

C_PITCH 2835 INT_PRESSURE_YINT -0.80000001 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1680 KALMAN_USE 1 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_ROLL_DIVE 1700 KERMIT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2807 LOGGERDEVICE1 -1 ROLL_DEG 50 USE_BATHY -4

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MAX 3810 USE_ICE 0

DEEPGLIDERMB 0 LOGGERDEVICE3 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOGGERDEVICE4 -1 ROLL_MIN 175 VBD_CNV -0.245296

DEVICE2 -1 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MASS 52152 R_PORT_OVSHOOT 29 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 220 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 8 SEABIRD_C_G -9.7945118 VBD_MIN 450

DEVICE6 -1 MINV_24V 19 SEABIRD_C_H 1.1383005 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 74 MISSION 2 SEABIRD_C_I -0.0013506444 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 250 MOTHERBOARD 4 SEABIRD_C_J 0.00018750974 VBD_TIMEOUT 720

D_BOOST 120 NAV_MODE 1 SEABIRD_T_G 0.0042964104 XPDR_DEVICE 24

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00061985431 XPDR_INHIBIT 90

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.235871e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 161209,144136,4806.971,-12222.588,11,1.4,27,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.053,-0.246

_SM_DEPTHo 1.12 KALMAN_X -16554.0,1669.0,-39.8,13085.0,-773.0

_SM_ANGLEo -72.1 KALMAN_Y 58689.2,-30428.6,-9955.2,-14416.7,9309.3

GPS2 161209,144720,4807.021,-12222.651,11,1.4,11,18.3 MHEAD_RNG_PITCHd_Wd 149.6,4264,-7.2,-6.024

SPEED_LIMITS 0.104,0.251 D_GRID 107

Post-dive calculations and measurements:

FREEZE 3.30,6.831,-1.334,0,1,0 _24V_AH 24.5,18.822

SM_CCo 2340,121.47,0.154,0,0,446,578.16 _10V_AH 10.5,6.128

SM_GC 1.25,7.95,0.00,0.00,0.048,0.000,0.000,109,1686,438,-8.47,-0.37,580.86 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12217.40,110611,080844 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028379 MEM 324080

HUMID 1077350305 DATA_FILE_SIZE 16790,487

INTERNAL_PRESSURE 8.9367 CAP_FILE_SIZE 86366,0

TCM_TEMP 19.30 CFSIZE 260165632,255889408

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 80.2,44.7 GPS 161209,153204,4806.766,-12222.715,8,5.4,27,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 276 142.63 SBE_CT 324 24 190.77

Roll_motor 135 59 198.68 nil 0 0 0.00

VBD_pump_during_apogee 150 517 1913.74 nil 0 0 0.00

VBD_pump_during_surface 121 154 458.82 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 24 0 0.00 nil 0 0 0.00

Iridium_during_xfer 210 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 5.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 0 0.00

TT8 792 19 164.69

LPSleep 621 2 14.29

TT8_Active 455 19 94.60

TT8_Sampling 978 39 408.92

TT8_CF8 79 45 38.31

TT8_Kalman 33 0 0.00

Analog_circuits 951 12 119.83

GPS_charging 0 0 0.00

Compass 707 15 111.48

RAFOS 0 0 0.00

Transponder 5 30 1.75

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

15 -0.50 -214.2 0.0 0.0 0 76 0.00 0.00 -58.60 0.000 2 0.000 0.000 107 1689 2409 0 0 0 0 0 0

78 -0.50 -214.2 3.2 -4.7 14 127 11.52 2.45 -30.83 0.000 4 0.277 0.060 2663 176 3682 0 0 0 0 0 0

169 -0.50 -214.2 12.2 -9.9 34 174 0.00 2.42 0.00 0.000 6 0.000 0.041 2663 1704 3683 0 0 0 0 0 0

212 -0.50 -214.2 16.7 -11.1 43 217 0.00 2.83 0.00 0.000 4 0.000 0.048 2663 3468 3682 0 0 0 0 0 0

246 -0.50 -214.2 20.4 -10.7 50 251 0.00 2.80 0.00 0.000 6 0.000 0.038 2663 1693 3683 0 0 0 0 0 0

289 -0.50 -214.2 24.9 -10.6 59 294 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1692 3683 0 0 0 0 0 0

331 -0.50 -214.2 29.5 -10.8 68 336 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1692 3682 0 0 0 0 0 0

373 -0.50 -214.2 34.0 -10.8 77 378 0.00 2.85 0.00 0.000 4 0.000 0.048 2663 3469 3683 0 0 0 0 0 0

385 -0.50 -214.2 35.1 -10.9 79 390 0.00 2.78 0.00 0.000 6 0.000 0.037 2663 1701 3682 0 0 0 0 0 0

427 -0.50 -214.2 40.1 -11.4 88 433 0.00 2.45 0.00 0.000 4 0.000 0.048 2663 170 3683 0 0 0 0 0 0

438 -0.50 -214.2 41.3 -11.4 90 443 0.00 2.40 0.00 0.000 6 0.000 0.038 2663 1709 3683 0 0 0 0 0 0

481 -0.50 -214.2 46.0 -11.2 99 486 0.00 2.78 0.00 0.000 4 0.000 0.048 2663 3460 3683 0 0 0 0 0 0

515 -0.50 -214.2 49.5 -10.3 106 520 0.00 2.75 0.00 0.000 6 0.000 0.037 2663 1695 3682 0 0 0 0 0 0

558 -0.50 -214.2 53.7 -9.7 115 563 0.00 2.40 0.00 0.000 4 0.000 0.049 2663 182 3682 0 0 0 0 0 0

568 -0.50 -214.2 54.7 -9.9 117 573 0.00 2.40 0.00 0.000 6 0.000 0.038 2663 1707 3683 0 0 0 0 0 0

611 -0.50 -214.2 59.2 -10.4 126 616 0.00 2.78 0.00 0.000 4 0.000 0.048 2663 3461 3682 0 0 0 0 0 0

623 -0.50 -214.2 60.2 -10.3 128 629 0.00 2.75 0.00 0.000 6 0.000 0.035 2663 1695 3683 0 0 0 0 0 0

666 -0.50 -214.2 64.8 -10.3 137 671 0.00 2.40 0.00 0.000 4 0.000 0.048 2663 176 3682 0 0 0 0 0 0

690 -0.50 -214.2 67.5 -10.3 142 696 0.00 2.40 0.00 0.000 6 0.000 0.039 2663 1702 3682 0 0 0 0 0 0

733 -0.50 -214.2 71.8 -10.3 151 739 0.00 2.78 0.00 0.000 4 0.000 0.048 2663 3471 3682 0 0 0 0 0 0

744 -0.50 -214.2 72.6 -9.9 153 749 0.00 2.75 0.00 0.000 6 0.000 0.034 2663 1701 3682 0 0 0 0 0 0

787 -0.50 -214.2 76.9 -10.0 162 792 0.00 2.42 0.00 0.000 4 0.000 0.047 2663 178 3682 0 0 0 0 0 0

797 -0.50 -214.2 78.1 -9.9 164 803 0.00 2.38 0.00 0.000 6 0.000 0.038 2663 1701 3682 0 0 0 0 0 0

843 -0.50 -214.2 82.5 -10.0 173 848 0.00 2.78 0.00 0.000 4 0.000 0.047 2663 3461 3682 0 0 0 0 0 0

853 -0.50 -214.2 83.5 -9.8 175 859 0.00 2.72 0.00 0.000 6 0.000 0.034 2663 1702 3682 0 0 0 0 0 0

896 -0.50 -214.2 87.7 -9.6 184 901 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1701 3682 0 0 0 0 0 0

939 -0.50 -214.2 91.6 -9.3 193 943 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 1701 3682 0 0 0 0 0 0

981 -0.50 -214.2 95.6 -9.2 202 986 0.00 2.78 0.00 0.000 4 0.000 0.047 2663 3462 3682 0 0 0 0 0 0

991 -0.50 -214.2 96.6 -9.4 204 997 0.00 2.75 0.00 0.000 6 0.000 0.035 2663 1691 3682 0 0 0 0 0 0

1034 -0.50 -214.2 100.4 -8.9 213 1040 0.00 2.38 0.00 0.000 4 0.000 0.048 2663 182 3682 0 0 0 0 0 0

1045 -0.50 -214.2 101.4 -8.9 215 1050 0.00 2.38 0.00 0.000 6 0.000 0.038 2663 1702 3682 0 0 0 0 0 0

1088 -0.50 -214.2 105.1 -8.8 224 1093 0.00 2.75 0.00 0.000 4 0.000 0.047 2663 3462 3682 0 0 0 0 0 0

1108 -0.50 -214.2 106.9 -8.4 228 1113 0.00 2.75 0.00 0.000 6 0.000 0.038 2663 1699 3682 0 0 0 0 0 0

1117 end dive: TARGET_DEPTH_EXCEEDED

state 1117 begin apogee

1120 -0.17 0.0 107.7 8.4 230 1198 0.32 0.00 74.12 0.518 6 0.124 0.000 2777 1698 2805 0 0 0 0 0 0

1200 end apogee: CONTROL_FINISHED_OK

state 1200 begin climb

1201 0.50 214.2 110.1 0.0 248 1284 0.62 2.90 75.18 0.507 4 0.101 0.044 2991 3449 1932 0 0 0 0 0 0

1294 0.50 214.2 101.4 12.0 269 1300 0.00 2.90 0.00 0.000 6 0.000 0.038 3001 1679 1929 0 0 0 0 0 0

1337 0.50 214.2 95.5 13.5 278 1343 0.00 2.45 0.00 0.000 4 0.000 0.050 3007 170 1928 0 0 0 0 0 0

1361 0.50 214.2 92.2 13.7 283 1366 0.00 2.42 0.00 0.000 6 0.000 0.036 3006 1681 1928 0 0 0 0 0 0

1404 0.50 214.2 86.4 13.5 292 1409 0.00 2.80 0.00 0.000 4 0.000 0.044 3006 3440 1928 0 0 0 0 0 0

1438 0.50 214.2 81.5 14.4 299 1444 0.08 2.83 0.00 0.000 6 0.194 0.040 2998 1680 1926 0 0 0 0 0 0

1481 0.50 214.2 75.6 13.5 308 1487 0.00 2.40 0.00 0.000 4 0.000 0.049 3006 178 1926 0 0 0 0 0 0

1510 0.50 214.2 72.1 12.8 314 1516 0.00 2.38 0.00 0.000 6 0.000 0.037 3006 1683 1926 0 0 0 0 0 0

1553 0.50 214.2 66.6 12.7 323 1559 0.00 2.80 0.00 0.000 4 0.000 0.044 3006 3442 1927 0 0 0 0 0 0

1578 0.50 214.2 63.1 13.3 328 1584 0.08 2.80 0.00 0.000 6 0.193 0.041 2997 1673 1926 0 0 0 0 0 0

1622 0.50 214.2 57.4 13.2 337 1627 0.00 2.40 0.00 0.000 4 0.000 0.049 3000 172 1926 0 0 0 0 0 0

1646 0.50 214.2 54.5 12.3 342 1652 0.00 2.38 0.00 0.000 6 0.000 0.037 3000 1682 1926 0 0 0 0 0 0

1689 0.50 214.2 49.3 12.2 351 1695 0.00 2.78 0.00 0.000 4 0.000 0.044 3000 3437 1926 0 0 0 0 0 0

1719 0.50 214.2 45.3 12.8 357 1724 0.00 2.78 0.00 0.000 6 0.000 0.040 3009 1674 1926 0 0 0 0 0 0

1762 0.50 214.2 39.9 12.8 366 1767 0.00 2.38 0.00 0.000 4 0.000 0.049 3018 182 1926 0 0 0 0 0 0

1782 0.50 214.2 37.4 12.7 370 1788 0.08 2.35 0.00 0.000 6 0.183 0.036 3000 1683 1926 0 0 0 0 0 0

1825 0.50 214.2 32.0 12.6 379 1830 0.00 2.75 0.00 0.000 4 0.000 0.044 3000 3442 1926 0 0 0 0 0 0

1849 0.50 214.2 28.8 12.1 384 1855 0.00 2.80 0.00 0.000 6 0.000 0.040 3008 1670 1926 0 0 0 0 0 0

1892 0.50 214.2 23.5 12.7 393 1898 0.00 2.38 0.00 0.000 4 0.000 0.049 3018 175 1926 0 0 0 0 0 0

1908 0.50 214.2 21.5 12.8 396 1914 0.08 2.35 0.00 0.000 6 0.183 0.036 3000 1679 1926 0 0 0 0 0 0

1951 0.50 214.2 16.4 12.2 405 1957 0.00 2.80 0.00 0.000 4 0.000 0.044 3000 3444 1926 0 0 0 0 0 0

1975 0.50 214.2 13.4 11.5 410 1981 0.00 2.80 0.00 0.000 6 0.000 0.040 3007 1673 1926 0 0 0 0 0 0

2019 0.50 214.2 8.2 12.1 419 2023 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 1671 1926 0 0 0 0 0 0

2061 0.50 214.2 4.7 9.2 428 2066 0.00 2.38 0.00 0.000 4 0.000 0.048 3007 169 1926 0 0 0 0 0 0

2329 0.87 513.1 3.4 0.2 486 2337 0.30 2.35 1.58 0.164 2 0.076 0.038 3123 1682 1904 0 0 0 0 0 0

2338 end climb: NO_VERTICAL_VELOCITY

state 2338 begin surface

ID	505	HEADING	-1	ROLL_MIN	175	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3810	ALTIM_TOP_TURN_MARGIN	0
DIVE	74	ESCAPE_HEADING_DELTA	10	ROLL_DEG	50	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1700	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1680	ALTIM_PING_DELTA	5
D_TGT	150	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	5	ALTIM_FREQUENCY	13
D_ABORT	250	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	6
D_NO_BLEED	500	SM_CC	480	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	1
D_BOOST	120	N_FILEKB	4	R_PORT_OVSHOOT	29	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	39	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.80000001
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	450	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	83	CALL_TRIES	5	C_VBD	2807	DEVICE2	-1
T_MISSION	90	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.245296	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-23240.326	UNCOM_BLEED	20	LOGGERDEVICE3	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
D_OFFGRID	1001	STROBE	0	CF8_MAXERRORS	20	COMPASS_DEVICE	33
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	COMPASS2_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	PHONE_DEVICE	48
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	GPS_DEVICE	32
MAX_BUOY	220	PITCH_MIN	110	MINV_10V	8	RAFOS_DEVICE	-1
COURSE_BIAS	0	PITCH_MAX	3893	FG_AHR_10V	0	XPDR_DEVICE	24
GLIDE_SLOPE	30	C_PITCH	2835	FG_AHR_24V	0	SIM_W	0
SPEED_FACTOR	1	PITCH_DBAND	0.050000001	PHONE_SUPPLY	2	SIM_PITCH	0
RHO	1.0273	PITCH_CNV	0.003125763	PRESSURE_YINT	-66.661293	SEABIRD_T_G	0.0042964104
MASS	52152	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011485742	SEABIRD_T_H	0.00061985431
NAV_MODE	1	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_T_I	2.235871e-05
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3254006e-06
KALMAN_USE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7945118
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_H	1.1383005
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0013506444
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018750974

GPS1	161209,144136,4806.971,-12222.588,11,1.4,27,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.053,-0.246
_SM_DEPTHo	1.12	KALMAN_X	-16554.0,1669.0,-39.8,13085.0,-773.0
_SM_ANGLEo	-72.1	KALMAN_Y	58689.2,-30428.6,-9955.2,-14416.7,9309.3
GPS2	161209,144720,4807.021,-12222.651,11,1.4,11,18.3	MHEAD_RNG_PITCHd_Wd	149.6,4264,-7.2,-6.024
SPEED_LIMITS	0.104,0.251	D_GRID	107

FREEZE	3.30,6.831,-1.334,0,1,0	_24V_AH	24.5,18.822
SM_CCo	2340,121.47,0.154,0,0,446,578.16	_10V_AH	10.5,6.128
SM_GC	1.25,7.95,0.00,0.00,0.048,0.000,0.000,109,1686,438,-8.47,-0.37,580.86	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12217.40,110611,080844	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028379	MEM	324080
HUMID	1077350305	DATA_FILE_SIZE	16790,487
INTERNAL_PRESSURE	8.9367	CAP_FILE_SIZE	86366,0
TCM_TEMP	19.30	CFSIZE	260165632,255889408
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	80.2,44.7	GPS	161209,153204,4806.766,-12222.715,8,5.4,27,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	276	142.63	SBE_CT	324	24	190.77
Roll_motor	135	59	198.68	nil	0	0	0.00
VBD_pump_during_apogee	150	517	1913.74	nil	0	0	0.00
VBD_pump_during_surface	121	154	458.82	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	24	0	0.00	nil	0	0	0.00
Iridium_during_xfer	210	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	5.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	0	0.00
TT8	792	19	164.69
LPSleep	621	2	14.29
TT8_Active	455	19	94.60
TT8_Sampling	978	39	408.92
TT8_CF8	79	45	38.31
TT8_Kalman	33	0	0.00
Analog_circuits	951	12	119.83
GPS_charging	0	0	0.00
Compass	707	15	111.48
RAFOS	0	0	0.00
Transponder	5	30	1.75

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
15	-0.50	-214.2	0.0	0.0	0	76	0.00	0.00	-58.60	0.000	2	0.000	0.000	107	1689	2409	0	0	0	0	0	0
78	-0.50	-214.2	3.2	-4.7	14	127	11.52	2.45	-30.83	0.000	4	0.277	0.060	2663	176	3682	0	0	0	0	0	0
169	-0.50	-214.2	12.2	-9.9	34	174	0.00	2.42	0.00	0.000	6	0.000	0.041	2663	1704	3683	0	0	0	0	0	0
212	-0.50	-214.2	16.7	-11.1	43	217	0.00	2.83	0.00	0.000	4	0.000	0.048	2663	3468	3682	0	0	0	0	0	0
246	-0.50	-214.2	20.4	-10.7	50	251	0.00	2.80	0.00	0.000	6	0.000	0.038	2663	1693	3683	0	0	0	0	0	0
289	-0.50	-214.2	24.9	-10.6	59	294	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	1692	3683	0	0	0	0	0	0
331	-0.50	-214.2	29.5	-10.8	68	336	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	1692	3682	0	0	0	0	0	0
373	-0.50	-214.2	34.0	-10.8	77	378	0.00	2.85	0.00	0.000	4	0.000	0.048	2663	3469	3683	0	0	0	0	0	0
385	-0.50	-214.2	35.1	-10.9	79	390	0.00	2.78	0.00	0.000	6	0.000	0.037	2663	1701	3682	0	0	0	0	0	0
427	-0.50	-214.2	40.1	-11.4	88	433	0.00	2.45	0.00	0.000	4	0.000	0.048	2663	170	3683	0	0	0	0	0	0
438	-0.50	-214.2	41.3	-11.4	90	443	0.00	2.40	0.00	0.000	6	0.000	0.038	2663	1709	3683	0	0	0	0	0	0
481	-0.50	-214.2	46.0	-11.2	99	486	0.00	2.78	0.00	0.000	4	0.000	0.048	2663	3460	3683	0	0	0	0	0	0
515	-0.50	-214.2	49.5	-10.3	106	520	0.00	2.75	0.00	0.000	6	0.000	0.037	2663	1695	3682	0	0	0	0	0	0
558	-0.50	-214.2	53.7	-9.7	115	563	0.00	2.40	0.00	0.000	4	0.000	0.049	2663	182	3682	0	0	0	0	0	0
568	-0.50	-214.2	54.7	-9.9	117	573	0.00	2.40	0.00	0.000	6	0.000	0.038	2663	1707	3683	0	0	0	0	0	0
611	-0.50	-214.2	59.2	-10.4	126	616	0.00	2.78	0.00	0.000	4	0.000	0.048	2663	3461	3682	0	0	0	0	0	0
623	-0.50	-214.2	60.2	-10.3	128	629	0.00	2.75	0.00	0.000	6	0.000	0.035	2663	1695	3683	0	0	0	0	0	0
666	-0.50	-214.2	64.8	-10.3	137	671	0.00	2.40	0.00	0.000	4	0.000	0.048	2663	176	3682	0	0	0	0	0	0
690	-0.50	-214.2	67.5	-10.3	142	696	0.00	2.40	0.00	0.000	6	0.000	0.039	2663	1702	3682	0	0	0	0	0	0
733	-0.50	-214.2	71.8	-10.3	151	739	0.00	2.78	0.00	0.000	4	0.000	0.048	2663	3471	3682	0	0	0	0	0	0
744	-0.50	-214.2	72.6	-9.9	153	749	0.00	2.75	0.00	0.000	6	0.000	0.034	2663	1701	3682	0	0	0	0	0	0
787	-0.50	-214.2	76.9	-10.0	162	792	0.00	2.42	0.00	0.000	4	0.000	0.047	2663	178	3682	0	0	0	0	0	0
797	-0.50	-214.2	78.1	-9.9	164	803	0.00	2.38	0.00	0.000	6	0.000	0.038	2663	1701	3682	0	0	0	0	0	0
843	-0.50	-214.2	82.5	-10.0	173	848	0.00	2.78	0.00	0.000	4	0.000	0.047	2663	3461	3682	0	0	0	0	0	0
853	-0.50	-214.2	83.5	-9.8	175	859	0.00	2.72	0.00	0.000	6	0.000	0.034	2663	1702	3682	0	0	0	0	0	0
896	-0.50	-214.2	87.7	-9.6	184	901	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	1701	3682	0	0	0	0	0	0
939	-0.50	-214.2	91.6	-9.3	193	943	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	1701	3682	0	0	0	0	0	0
981	-0.50	-214.2	95.6	-9.2	202	986	0.00	2.78	0.00	0.000	4	0.000	0.047	2663	3462	3682	0	0	0	0	0	0
991	-0.50	-214.2	96.6	-9.4	204	997	0.00	2.75	0.00	0.000	6	0.000	0.035	2663	1691	3682	0	0	0	0	0	0
1034	-0.50	-214.2	100.4	-8.9	213	1040	0.00	2.38	0.00	0.000	4	0.000	0.048	2663	182	3682	0	0	0	0	0	0
1045	-0.50	-214.2	101.4	-8.9	215	1050	0.00	2.38	0.00	0.000	6	0.000	0.038	2663	1702	3682	0	0	0	0	0	0
1088	-0.50	-214.2	105.1	-8.8	224	1093	0.00	2.75	0.00	0.000	4	0.000	0.047	2663	3462	3682	0	0	0	0	0	0
1108	-0.50	-214.2	106.9	-8.4	228	1113	0.00	2.75	0.00	0.000	6	0.000	0.038	2663	1699	3682	0	0	0	0	0	0
1117	end dive: TARGET_DEPTH_EXCEEDED
state	1117	begin apogee
1120	-0.17	0.0	107.7	8.4	230	1198	0.32	0.00	74.12	0.518	6	0.124	0.000	2777	1698	2805	0	0	0	0	0	0
1200	end apogee: CONTROL_FINISHED_OK
state	1200	begin climb
1201	0.50	214.2	110.1	0.0	248	1284	0.62	2.90	75.18	0.507	4	0.101	0.044	2991	3449	1932	0	0	0	0	0	0
1294	0.50	214.2	101.4	12.0	269	1300	0.00	2.90	0.00	0.000	6	0.000	0.038	3001	1679	1929	0	0	0	0	0	0
1337	0.50	214.2	95.5	13.5	278	1343	0.00	2.45	0.00	0.000	4	0.000	0.050	3007	170	1928	0	0	0	0	0	0
1361	0.50	214.2	92.2	13.7	283	1366	0.00	2.42	0.00	0.000	6	0.000	0.036	3006	1681	1928	0	0	0	0	0	0
1404	0.50	214.2	86.4	13.5	292	1409	0.00	2.80	0.00	0.000	4	0.000	0.044	3006	3440	1928	0	0	0	0	0	0
1438	0.50	214.2	81.5	14.4	299	1444	0.08	2.83	0.00	0.000	6	0.194	0.040	2998	1680	1926	0	0	0	0	0	0
1481	0.50	214.2	75.6	13.5	308	1487	0.00	2.40	0.00	0.000	4	0.000	0.049	3006	178	1926	0	0	0	0	0	0
1510	0.50	214.2	72.1	12.8	314	1516	0.00	2.38	0.00	0.000	6	0.000	0.037	3006	1683	1926	0	0	0	0	0	0
1553	0.50	214.2	66.6	12.7	323	1559	0.00	2.80	0.00	0.000	4	0.000	0.044	3006	3442	1927	0	0	0	0	0	0
1578	0.50	214.2	63.1	13.3	328	1584	0.08	2.80	0.00	0.000	6	0.193	0.041	2997	1673	1926	0	0	0	0	0	0
1622	0.50	214.2	57.4	13.2	337	1627	0.00	2.40	0.00	0.000	4	0.000	0.049	3000	172	1926	0	0	0	0	0	0
1646	0.50	214.2	54.5	12.3	342	1652	0.00	2.38	0.00	0.000	6	0.000	0.037	3000	1682	1926	0	0	0	0	0	0
1689	0.50	214.2	49.3	12.2	351	1695	0.00	2.78	0.00	0.000	4	0.000	0.044	3000	3437	1926	0	0	0	0	0	0
1719	0.50	214.2	45.3	12.8	357	1724	0.00	2.78	0.00	0.000	6	0.000	0.040	3009	1674	1926	0	0	0	0	0	0
1762	0.50	214.2	39.9	12.8	366	1767	0.00	2.38	0.00	0.000	4	0.000	0.049	3018	182	1926	0	0	0	0	0	0
1782	0.50	214.2	37.4	12.7	370	1788	0.08	2.35	0.00	0.000	6	0.183	0.036	3000	1683	1926	0	0	0	0	0	0
1825	0.50	214.2	32.0	12.6	379	1830	0.00	2.75	0.00	0.000	4	0.000	0.044	3000	3442	1926	0	0	0	0	0	0
1849	0.50	214.2	28.8	12.1	384	1855	0.00	2.80	0.00	0.000	6	0.000	0.040	3008	1670	1926	0	0	0	0	0	0
1892	0.50	214.2	23.5	12.7	393	1898	0.00	2.38	0.00	0.000	4	0.000	0.049	3018	175	1926	0	0	0	0	0	0
1908	0.50	214.2	21.5	12.8	396	1914	0.08	2.35	0.00	0.000	6	0.183	0.036	3000	1679	1926	0	0	0	0	0	0
1951	0.50	214.2	16.4	12.2	405	1957	0.00	2.80	0.00	0.000	4	0.000	0.044	3000	3444	1926	0	0	0	0	0	0
1975	0.50	214.2	13.4	11.5	410	1981	0.00	2.80	0.00	0.000	6	0.000	0.040	3007	1673	1926	0	0	0	0	0	0
2019	0.50	214.2	8.2	12.1	419	2023	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	1671	1926	0	0	0	0	0	0
2061	0.50	214.2	4.7	9.2	428	2066	0.00	2.38	0.00	0.000	4	0.000	0.048	3007	169	1926	0	0	0	0	0	0
2329	0.87	513.1	3.4	0.2	486	2337	0.30	2.35	1.58	0.164	2	0.076	0.038	3123	1682	1904	0	0	0	0	0	0
2338	end climb: NO_VERTICAL_VELOCITY
state	2338	begin surface