Glider dive log

OKMC Aug11 * SG166 * Dive index * Mission links * Dive 124 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 30

DIVE 124 HEADING -1 ROLL_MIN 197 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3786 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 5 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1500 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1850 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 3 SM_CC 400 ROLL_TIMEOUT 15 XPDR_VALID 4

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 46 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.7

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MIN 455 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

T_DIVE 340 UPLOAD_DIVES_MAX -1 C_VBD 2884 DEVICE3 35

T_MISSION 370 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 3 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -9 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -24548.727 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 147 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 109 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 160 PITCH_MIN 160 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3938 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2745 PHONE_SUPPLY 2 SEABIRD_T_G 0.004315557

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -27.509327 SEABIRD_T_H 0.00063223497

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_I 2.3993638e-05

MASS 51906 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5696888e-06

NAV_MODE 2 PITCH_GAIN 28 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9842854

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1210135

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0013500623

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00018873326

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 109 D_OFFGRID 1000 PHONE_DEVICE 49 SIM_W 0

AH0_24V 147 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 30 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3938 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 160 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001160501 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -27.509327 T_DIVE 340

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 1 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -24548.727

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 370

COMPASS_DEVICE 33 ID 166 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2745 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1850 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 1500 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2884 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3786 USE_BATHY -9

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51906 ROLL_MIN 197 VBD_BLEED_AD_RATE 8

DEVICE2 53 MAX_BUOY 160 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 8 R_PORT_OVSHOOT 46 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 41 VBD_MAX 3960

DEVICE5 -1 MISSION 6 SEABIRD_C_G -9.9842854 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1210135 VBD_MIN 455

DIVE 124 NAV_MODE 2 SEABIRD_C_I -0.0013500623 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018873326 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 3 N_DIVES 0 SEABIRD_T_G 0.004315557 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00063223497 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3993638e-05 XPDR_INHIBIT 90

D_FLARE 5 N_NOCOMM 1 SEABIRD_T_J 2.5696888e-06 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 270811,100845,2252.817,12350.075,72,99.0,91,-3.2 TGT_NAME N3

_CALLS 1 TGT_LATLONG 2130.000,12400.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270811,101345,2252.844,12350.010,64,3.0,83,-3.2 MHEAD_RNG_PITCHd_Wd 146.2,154391,-17.2,-9.706

SPEED_LIMITS 0.168,0.265 D_GRID 5000

Post-dive calculations and measurements:

FINISH 1.0,1.022153 _10V_AH 10.2,21.396

SM_CCo 13411,72.30,0.523,1,0,1252,400.08 FG_AHR_24Vo 0.000

SM_GC 1.86,0.00,0.00,72.30,0.000,0.000,0.523,154,1488,1252,-8.10,-0.34,400.08,0,0,0,0,1,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2246.36,12351.13,270811,060617 MEM 330172

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 73443,1289

HUMID 34.32 CAP_FILE_SIZE 137269,0

INTERNAL_PRESSURE 9.46784 CFSIZE 260165632,136298496

TCM_TEMP 25.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 75 CURRENT 0.123,320.8,1

_24V_AH 23.3,31.569 GPS 270811,140037,2252.310,12350.961,61,1.9,61,-3.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 214 93.66 SBE_CT 881 24 492.79

Roll_motor 102 62 149.89 AA3830 1319 33 1014.51

VBD_pump_during_apogee 370 1449 12528.05 WL_BB2F 1620 105 3964.72

VBD_pump_during_surface 72 523 881.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.15 nil 0 0 0.00

Iridium_during_connect 16 160 61.91 nil 0 0 0.00

Iridium_during_xfer 36 223 192.03 nil 0 0 0.00

Transponder_ping 18 420 183.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 85 50 43.36

TT8 3207 19 647.79

LPSleep 6492 2 145.02

TT8_Active 520 19 105.20

TT8_Sampling 3186 39 1293.57

TT8_CF8 369 45 172.47

TT8_Kalman 0 0 0.00

Analog_circuits 1742 12 213.28

GPS_charging 0 0 0.00

Compass 3024 15 462.81

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -0.81 -155.7 0.0 0.0 0 99 0.00 0.00 -78.40 0.000 2 0.000 0.000 141 1486 3203 0 0 0 0 0 0

102 -0.81 -155.7 6.5 -10.8 11 127 8.93 1.95 -5.85 0.000 4 0.215 0.049 2480 202 3520 0 0 0 0 0 0

315 -0.81 -155.7 91.0 -26.4 49 324 0.00 1.98 0.00 0.000 6 0.000 0.036 2468 1495 3522 0 0 0 0 0 0

639 -0.81 -155.7 170.1 -24.3 110 647 0.00 2.00 0.00 0.000 4 0.000 0.045 2465 209 3525 0 0 0 0 0 0

698 -0.81 -155.7 184.1 -23.0 119 707 0.00 1.98 0.00 0.000 6 0.000 0.037 2457 1501 3525 0 0 0 0 0 0

1026 -0.81 -155.7 257.7 -22.7 177 1029 0.00 2.00 0.00 0.000 4 0.000 0.047 2458 208 3525 0 0 0 0 0 0

1147 -0.81 -155.7 287.2 -22.8 188 1152 0.12 1.95 0.00 0.000 6 0.188 0.037 2481 1496 3525 0 0 0 0 0 0

1473 -0.81 -155.7 347.6 -16.2 218 1477 0.00 2.12 0.00 0.000 4 0.000 0.047 2473 2914 3525 0 0 0 0 0 0

1494 -0.81 -155.7 351.5 -16.4 219 1501 0.00 2.15 0.00 0.000 6 0.000 0.038 2476 1511 3525 0 0 0 0 0 0

1820 -0.81 -155.7 407.6 -17.2 250 1823 0.00 2.03 0.00 0.000 4 0.000 0.048 2478 191 3524 0 0 0 0 0 0

1925 -0.81 -155.7 426.1 -17.3 259 1932 0.00 1.98 0.00 0.000 6 0.000 0.037 2483 1507 3523 0 0 0 0 0 0

2251 -0.81 -155.7 477.0 -16.0 290 2255 0.00 2.05 0.00 0.000 4 0.000 0.048 2484 193 3522 0 0 0 0 0 0

2402 -0.81 -155.7 503.0 -17.1 303 2409 0.00 1.98 0.00 0.000 6 0.000 0.037 2474 1492 3521 0 0 0 0 0 0

2728 -0.81 -155.7 552.6 -14.8 334 2732 0.00 2.15 0.00 0.000 4 0.000 0.049 2463 2905 3519 0 0 0 0 0 0

2762 -0.81 -155.7 557.7 -15.1 337 2766 0.00 2.12 0.00 0.000 6 0.000 0.039 2463 1491 3519 0 0 0 0 0 0

3093 -0.81 -155.7 607.9 -15.5 366 3097 0.00 2.00 0.00 0.000 4 0.000 0.051 2464 195 3516 0 0 0 0 0 0

3289 -0.81 -155.7 641.4 -17.8 374 3297 0.08 2.00 0.00 0.000 6 0.162 0.040 2478 1497 3514 0 0 0 0 0 0

3608 -0.81 -155.7 687.3 -14.3 390 3612 0.00 2.17 0.00 0.000 4 0.000 0.052 2466 2918 3511 0 0 0 0 0 0

3635 -0.81 -155.7 691.8 -14.3 391 3639 0.00 2.15 0.00 0.000 6 0.000 0.041 2465 1495 3511 0 0 0 0 0 0

3956 -0.81 -155.7 736.3 -13.0 407 3960 0.00 2.00 0.00 0.000 4 0.000 0.054 2462 197 3508 0 0 0 0 0 0

4103 -0.81 -155.7 755.9 -13.1 413 4108 0.12 1.98 0.00 0.000 6 0.182 0.041 2486 1500 3507 0 0 0 0 0 0

4424 -0.81 -155.7 789.1 -10.1 429 4428 0.00 2.03 0.00 0.000 4 0.000 0.054 2488 204 3504 0 0 0 0 0 0

4494 -0.81 -155.7 796.9 -11.6 432 4498 0.00 2.03 0.00 0.000 6 0.000 0.050 2483 1521 3503 0 0 0 0 0 0

4826 -0.81 -155.7 832.6 -10.4 448 4827 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1521 3500 0 0 0 0 0 0

5135 -0.81 -155.7 865.2 -10.7 463 5136 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1521 3498 0 0 0 0 0 0

5447 -0.81 -155.7 900.9 -11.8 478 5451 0.00 2.05 0.00 0.000 4 0.000 0.057 2485 199 3495 0 0 0 0 0 0

5485 -0.81 -155.7 906.5 -13.8 479 5492 0.00 2.03 0.00 0.000 6 0.000 0.044 2476 1502 3494 0 0 0 0 0 0

5801 -0.81 -155.7 947.4 -13.5 495 5805 0.00 2.17 0.00 0.000 4 0.000 0.057 2465 2916 3492 0 0 0 0 0 0

5842 -0.81 -155.7 952.7 -13.6 497 5846 0.00 2.17 0.00 0.000 6 0.000 0.045 2464 1494 3492 0 0 0 0 0 0

6126 end dive: TARGET_DEPTH_EXCEEDED

state 6126 begin apogee

6132 -0.18 0.0 991.8 13.2 511 6267 0.70 0.00 127.03 1.450 6 0.143 0.000 2680 1862 2884 0 0 0 0 0 0

6268 end apogee: CONTROL_FINISHED_OK

state 6268 begin climb

6270 0.81 155.7 995.9 0.0 517 6420 0.93 2.40 140.32 1.390 4 0.079 0.063 2996 3239 2248 0 0 0 0 0 0

6485 0.81 155.7 968.9 17.8 527 6489 0.00 2.22 0.00 0.000 6 0.000 0.045 3003 1849 2244 0 0 0 0 0 0

6812 0.81 155.7 909.6 18.2 543 6816 0.00 2.22 0.00 0.000 4 0.000 0.060 3000 3249 2240 0 0 0 0 0 0

6904 0.81 155.7 892.5 19.0 547 6908 0.00 2.17 0.00 0.000 6 0.000 0.044 3008 1834 2237 0 0 0 0 0 0

7237 0.81 155.7 831.3 18.2 563 7238 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 1834 2236 0 0 0 0 0 0

7547 0.81 155.7 778.1 17.5 578 7551 0.00 2.22 0.00 0.000 4 0.000 0.056 2990 3257 2235 0 0 0 0 0 0

7596 0.81 155.7 769.0 17.1 580 7600 0.00 2.15 0.00 0.000 6 0.000 0.042 3000 1850 2234 0 0 0 0 0 0

7924 0.81 155.7 708.3 18.6 596 7928 0.00 2.17 0.00 0.000 4 0.000 0.050 3009 432 2233 0 0 0 0 0 0

7969 0.81 155.7 699.8 19.2 598 7974 0.00 2.17 0.00 0.000 6 0.000 0.042 3006 1842 2233 0 0 0 0 0 0

8297 0.81 155.7 641.4 18.0 614 8301 0.00 2.17 0.00 0.000 4 0.000 0.056 2996 3263 2232 0 0 0 0 0 0

8471 0.81 155.7 611.3 16.8 622 8475 0.00 2.15 0.00 0.000 6 0.000 0.041 3006 1849 2231 0 0 0 0 0 0

8795 0.81 155.7 562.6 14.3 649 8799 0.00 2.20 0.00 0.000 4 0.000 0.053 2997 3263 2231 0 0 0 0 0 0

8955 0.81 155.7 539.1 14.6 662 8962 0.00 2.15 0.00 0.000 6 0.000 0.041 3006 1849 2230 0 0 0 0 0 0

9280 0.81 155.7 491.2 15.1 693 9281 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1849 2229 0 0 0 0 0 0

9602 0.81 155.7 438.3 17.4 723 9606 0.00 2.20 0.00 0.000 4 0.000 0.052 3000 3270 2229 0 0 0 0 0 0

9805 0.81 155.7 403.8 15.1 741 9810 0.00 2.15 0.00 0.000 6 0.000 0.038 3013 1845 2228 0 0 0 0 0 0

10130 0.81 155.7 358.7 13.0 771 10132 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 1845 2229 0 0 0 0 0 0

10453 0.81 155.7 322.3 10.6 801 10457 0.00 2.20 0.00 0.000 4 0.000 0.050 3007 3275 2228 0 0 0 0 0 0

10519 0.81 155.7 314.0 11.3 806 10526 0.00 2.15 0.00 0.000 6 0.000 0.037 3016 1840 2228 0 0 0 0 0 0

10848 0.81 155.7 273.8 13.2 837 10855 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1840 2228 0 0 0 0 0 0

11174 0.81 155.7 227.9 13.9 883 11181 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1840 2228 0 0 0 0 0 0

11501 0.81 155.7 185.8 10.9 944 11509 0.00 2.22 0.00 0.000 4 0.000 0.047 3008 3272 2228 0 0 0 0 0 0

11560 0.81 155.7 180.0 9.7 954 11568 0.00 2.15 0.00 0.000 6 0.000 0.035 3016 1851 2228 0 0 0 0 0 0

11884 0.81 155.7 147.9 11.0 1015 11892 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1851 2228 0 0 0 0 0 0

12208 0.81 155.7 109.0 10.6 1076 12216 0.00 2.20 0.00 0.000 4 0.000 0.045 3007 3272 2228 0 0 0 0 0 0

12458 0.92 249.9 90.3 5.8 1122 12539 0.00 2.15 75.75 0.733 6 0.000 0.034 3016 1843 1865 0 0 0 0 0 0

12861 0.96 282.2 58.2 8.4 1193 12900 0.10 2.20 27.80 0.671 4 0.103 0.043 3084 450 1733 0 0 0 0 0 0

13000 0.96 282.2 42.2 12.2 1216 13008 0.00 2.17 0.00 0.000 6 0.000 0.032 3083 1865 1730 0 0 0 0 0 0

13324 0.96 282.2 8.9 11.5 1277 13332 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 1867 1730 0 0 0 0 0 0

13369 end climb: SURFACE_DEPTH_REACHED

state 13369 begin surface coast

13392 end surface coast: CONTROL_FINISHED_OK

state 13392 begin surface

ID	166	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	30
DIVE	124	HEADING	-1	ROLL_MIN	197	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3786	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	5	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1500	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1850	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	3	SM_CC	400	ROLL_TIMEOUT	15	XPDR_VALID	4
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	46	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.7
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MIN	455	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
T_DIVE	340	UPLOAD_DIVES_MAX	-1	C_VBD	2884	DEVICE3	35
T_MISSION	370	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	3	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-9	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-24548.727	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	147	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	109	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	160	PITCH_MIN	160	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3938	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2745	PHONE_SUPPLY	2	SEABIRD_T_G	0.004315557
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-27.509327	SEABIRD_T_H	0.00063223497
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_I	2.3993638e-05
MASS	51906	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5696888e-06
NAV_MODE	2	PITCH_GAIN	28	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9842854
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1210135
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0013500623
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00018873326

GPS1	270811,100845,2252.817,12350.075,72,99.0,91,-3.2	TGT_NAME	N3
_CALLS	1	TGT_LATLONG	2130.000,12400.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270811,101345,2252.844,12350.010,64,3.0,83,-3.2	MHEAD_RNG_PITCHd_Wd	146.2,154391,-17.2,-9.706
SPEED_LIMITS	0.168,0.265	D_GRID	5000

FINISH	1.0,1.022153	_10V_AH	10.2,21.396
SM_CCo	13411,72.30,0.523,1,0,1252,400.08	FG_AHR_24Vo	0.000
SM_GC	1.86,0.00,0.00,72.30,0.000,0.000,0.523,154,1488,1252,-8.10,-0.34,400.08,0,0,0,0,1,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2246.36,12351.13,270811,060617	MEM	330172
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	73443,1289
HUMID	34.32	CAP_FILE_SIZE	137269,0
INTERNAL_PRESSURE	9.46784	CFSIZE	260165632,136298496
TCM_TEMP	25.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	75	CURRENT	0.123,320.8,1
_24V_AH	23.3,31.569	GPS	270811,140037,2252.310,12350.961,61,1.9,61,-3.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	214	93.66	SBE_CT	881	24	492.79
Roll_motor	102	62	149.89	AA3830	1319	33	1014.51
VBD_pump_during_apogee	370	1449	12528.05	WL_BB2F	1620	105	3964.72
VBD_pump_during_surface	72	523	881.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.15	nil	0	0	0.00
Iridium_during_connect	16	160	61.91	nil	0	0	0.00
Iridium_during_xfer	36	223	192.03	nil	0	0	0.00
Transponder_ping	18	420	183.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	85	50	43.36
TT8	3207	19	647.79
LPSleep	6492	2	145.02
TT8_Active	520	19	105.20
TT8_Sampling	3186	39	1293.57
TT8_CF8	369	45	172.47
TT8_Kalman	0	0	0.00
Analog_circuits	1742	12	213.28
GPS_charging	0	0	0.00
Compass	3024	15	462.81
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-0.81	-155.7	0.0	0.0	0	99	0.00	0.00	-78.40	0.000	2	0.000	0.000	141	1486	3203	0	0	0	0	0	0
102	-0.81	-155.7	6.5	-10.8	11	127	8.93	1.95	-5.85	0.000	4	0.215	0.049	2480	202	3520	0	0	0	0	0	0
315	-0.81	-155.7	91.0	-26.4	49	324	0.00	1.98	0.00	0.000	6	0.000	0.036	2468	1495	3522	0	0	0	0	0	0
639	-0.81	-155.7	170.1	-24.3	110	647	0.00	2.00	0.00	0.000	4	0.000	0.045	2465	209	3525	0	0	0	0	0	0
698	-0.81	-155.7	184.1	-23.0	119	707	0.00	1.98	0.00	0.000	6	0.000	0.037	2457	1501	3525	0	0	0	0	0	0
1026	-0.81	-155.7	257.7	-22.7	177	1029	0.00	2.00	0.00	0.000	4	0.000	0.047	2458	208	3525	0	0	0	0	0	0
1147	-0.81	-155.7	287.2	-22.8	188	1152	0.12	1.95	0.00	0.000	6	0.188	0.037	2481	1496	3525	0	0	0	0	0	0
1473	-0.81	-155.7	347.6	-16.2	218	1477	0.00	2.12	0.00	0.000	4	0.000	0.047	2473	2914	3525	0	0	0	0	0	0
1494	-0.81	-155.7	351.5	-16.4	219	1501	0.00	2.15	0.00	0.000	6	0.000	0.038	2476	1511	3525	0	0	0	0	0	0
1820	-0.81	-155.7	407.6	-17.2	250	1823	0.00	2.03	0.00	0.000	4	0.000	0.048	2478	191	3524	0	0	0	0	0	0
1925	-0.81	-155.7	426.1	-17.3	259	1932	0.00	1.98	0.00	0.000	6	0.000	0.037	2483	1507	3523	0	0	0	0	0	0
2251	-0.81	-155.7	477.0	-16.0	290	2255	0.00	2.05	0.00	0.000	4	0.000	0.048	2484	193	3522	0	0	0	0	0	0
2402	-0.81	-155.7	503.0	-17.1	303	2409	0.00	1.98	0.00	0.000	6	0.000	0.037	2474	1492	3521	0	0	0	0	0	0
2728	-0.81	-155.7	552.6	-14.8	334	2732	0.00	2.15	0.00	0.000	4	0.000	0.049	2463	2905	3519	0	0	0	0	0	0
2762	-0.81	-155.7	557.7	-15.1	337	2766	0.00	2.12	0.00	0.000	6	0.000	0.039	2463	1491	3519	0	0	0	0	0	0
3093	-0.81	-155.7	607.9	-15.5	366	3097	0.00	2.00	0.00	0.000	4	0.000	0.051	2464	195	3516	0	0	0	0	0	0
3289	-0.81	-155.7	641.4	-17.8	374	3297	0.08	2.00	0.00	0.000	6	0.162	0.040	2478	1497	3514	0	0	0	0	0	0
3608	-0.81	-155.7	687.3	-14.3	390	3612	0.00	2.17	0.00	0.000	4	0.000	0.052	2466	2918	3511	0	0	0	0	0	0
3635	-0.81	-155.7	691.8	-14.3	391	3639	0.00	2.15	0.00	0.000	6	0.000	0.041	2465	1495	3511	0	0	0	0	0	0
3956	-0.81	-155.7	736.3	-13.0	407	3960	0.00	2.00	0.00	0.000	4	0.000	0.054	2462	197	3508	0	0	0	0	0	0
4103	-0.81	-155.7	755.9	-13.1	413	4108	0.12	1.98	0.00	0.000	6	0.182	0.041	2486	1500	3507	0	0	0	0	0	0
4424	-0.81	-155.7	789.1	-10.1	429	4428	0.00	2.03	0.00	0.000	4	0.000	0.054	2488	204	3504	0	0	0	0	0	0
4494	-0.81	-155.7	796.9	-11.6	432	4498	0.00	2.03	0.00	0.000	6	0.000	0.050	2483	1521	3503	0	0	0	0	0	0
4826	-0.81	-155.7	832.6	-10.4	448	4827	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1521	3500	0	0	0	0	0	0
5135	-0.81	-155.7	865.2	-10.7	463	5136	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1521	3498	0	0	0	0	0	0
5447	-0.81	-155.7	900.9	-11.8	478	5451	0.00	2.05	0.00	0.000	4	0.000	0.057	2485	199	3495	0	0	0	0	0	0
5485	-0.81	-155.7	906.5	-13.8	479	5492	0.00	2.03	0.00	0.000	6	0.000	0.044	2476	1502	3494	0	0	0	0	0	0
5801	-0.81	-155.7	947.4	-13.5	495	5805	0.00	2.17	0.00	0.000	4	0.000	0.057	2465	2916	3492	0	0	0	0	0	0
5842	-0.81	-155.7	952.7	-13.6	497	5846	0.00	2.17	0.00	0.000	6	0.000	0.045	2464	1494	3492	0	0	0	0	0	0
6126	end dive: TARGET_DEPTH_EXCEEDED
state	6126	begin apogee
6132	-0.18	0.0	991.8	13.2	511	6267	0.70	0.00	127.03	1.450	6	0.143	0.000	2680	1862	2884	0	0	0	0	0	0
6268	end apogee: CONTROL_FINISHED_OK
state	6268	begin climb
6270	0.81	155.7	995.9	0.0	517	6420	0.93	2.40	140.32	1.390	4	0.079	0.063	2996	3239	2248	0	0	0	0	0	0
6485	0.81	155.7	968.9	17.8	527	6489	0.00	2.22	0.00	0.000	6	0.000	0.045	3003	1849	2244	0	0	0	0	0	0
6812	0.81	155.7	909.6	18.2	543	6816	0.00	2.22	0.00	0.000	4	0.000	0.060	3000	3249	2240	0	0	0	0	0	0
6904	0.81	155.7	892.5	19.0	547	6908	0.00	2.17	0.00	0.000	6	0.000	0.044	3008	1834	2237	0	0	0	0	0	0
7237	0.81	155.7	831.3	18.2	563	7238	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	1834	2236	0	0	0	0	0	0
7547	0.81	155.7	778.1	17.5	578	7551	0.00	2.22	0.00	0.000	4	0.000	0.056	2990	3257	2235	0	0	0	0	0	0
7596	0.81	155.7	769.0	17.1	580	7600	0.00	2.15	0.00	0.000	6	0.000	0.042	3000	1850	2234	0	0	0	0	0	0
7924	0.81	155.7	708.3	18.6	596	7928	0.00	2.17	0.00	0.000	4	0.000	0.050	3009	432	2233	0	0	0	0	0	0
7969	0.81	155.7	699.8	19.2	598	7974	0.00	2.17	0.00	0.000	6	0.000	0.042	3006	1842	2233	0	0	0	0	0	0
8297	0.81	155.7	641.4	18.0	614	8301	0.00	2.17	0.00	0.000	4	0.000	0.056	2996	3263	2232	0	0	0	0	0	0
8471	0.81	155.7	611.3	16.8	622	8475	0.00	2.15	0.00	0.000	6	0.000	0.041	3006	1849	2231	0	0	0	0	0	0
8795	0.81	155.7	562.6	14.3	649	8799	0.00	2.20	0.00	0.000	4	0.000	0.053	2997	3263	2231	0	0	0	0	0	0
8955	0.81	155.7	539.1	14.6	662	8962	0.00	2.15	0.00	0.000	6	0.000	0.041	3006	1849	2230	0	0	0	0	0	0
9280	0.81	155.7	491.2	15.1	693	9281	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1849	2229	0	0	0	0	0	0
9602	0.81	155.7	438.3	17.4	723	9606	0.00	2.20	0.00	0.000	4	0.000	0.052	3000	3270	2229	0	0	0	0	0	0
9805	0.81	155.7	403.8	15.1	741	9810	0.00	2.15	0.00	0.000	6	0.000	0.038	3013	1845	2228	0	0	0	0	0	0
10130	0.81	155.7	358.7	13.0	771	10132	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	1845	2229	0	0	0	0	0	0
10453	0.81	155.7	322.3	10.6	801	10457	0.00	2.20	0.00	0.000	4	0.000	0.050	3007	3275	2228	0	0	0	0	0	0
10519	0.81	155.7	314.0	11.3	806	10526	0.00	2.15	0.00	0.000	6	0.000	0.037	3016	1840	2228	0	0	0	0	0	0
10848	0.81	155.7	273.8	13.2	837	10855	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1840	2228	0	0	0	0	0	0
11174	0.81	155.7	227.9	13.9	883	11181	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1840	2228	0	0	0	0	0	0
11501	0.81	155.7	185.8	10.9	944	11509	0.00	2.22	0.00	0.000	4	0.000	0.047	3008	3272	2228	0	0	0	0	0	0
11560	0.81	155.7	180.0	9.7	954	11568	0.00	2.15	0.00	0.000	6	0.000	0.035	3016	1851	2228	0	0	0	0	0	0
11884	0.81	155.7	147.9	11.0	1015	11892	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1851	2228	0	0	0	0	0	0
12208	0.81	155.7	109.0	10.6	1076	12216	0.00	2.20	0.00	0.000	4	0.000	0.045	3007	3272	2228	0	0	0	0	0	0
12458	0.92	249.9	90.3	5.8	1122	12539	0.00	2.15	75.75	0.733	6	0.000	0.034	3016	1843	1865	0	0	0	0	0	0
12861	0.96	282.2	58.2	8.4	1193	12900	0.10	2.20	27.80	0.671	4	0.103	0.043	3084	450	1733	0	0	0	0	0	0
13000	0.96	282.2	42.2	12.2	1216	13008	0.00	2.17	0.00	0.000	6	0.000	0.032	3083	1865	1730	0	0	0	0	0	0
13324	0.96	282.2	8.9	11.5	1277	13332	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	1867	1730	0	0	0	0	0	0
13369	end climb: SURFACE_DEPTH_REACHED
state	13369	begin surface coast
13392	end surface coast: CONTROL_FINISHED_OK
state	13392	begin surface