Glider dive log

OKMC Aug11 * SG166 * Dive index * Mission links * Dive 128 * 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 128 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 40 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 47 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 -24553.768 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 -24553.768

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 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 47 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 128 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 280811,013836,2248.081,12351.478,39,1.7,39,-3.1 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 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280811,014502,2248.152,12351.396,35,1.8,35,-3.1 MHEAD_RNG_PITCHd_Wd 142.1,145495,-17.2,-9.706

SPEED_LIMITS 0.168,0.265 D_GRID 5000

Post-dive calculations and measurements:

FINISH 1.0,0.999332 _10V_AH 10.2,21.990

SM_CCo 12686,58.08,0.495,1,0,1252,400.08 FG_AHR_24Vo 0.000

SM_GC 2.04,0.00,0.00,58.08,0.000,0.000,0.495,153,1488,1252,-8.10,-0.34,400.08,0,0,0,0,1,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2241.69,12353.07,270811,212144 MEM 330196

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 70325,1225

HUMID 35.66 CAP_FILE_SIZE 134560,0

INTERNAL_PRESSURE 9.43854 CFSIZE 260165632,136015872

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 75 CURRENT 0.199,271.3,1

_24V_AH 23.3,32.232 GPS 280811,051938,2247.008,12351.549,63,1.2,64,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 227 103.84 SBE_CT 836 24 468.03

Roll_motor 102 61 148.35 AA3830 1254 33 964.72

VBD_pump_during_apogee 407 1449 13748.26 WL_BB2F 1574 105 3852.82

VBD_pump_during_surface 58 494 669.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.80 nil 0 0 0.00

Iridium_during_connect 24 160 90.99 nil 0 0 0.00

Iridium_during_xfer 158 223 825.17 nil 0 0 0.00

Transponder_ping 18 420 183.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 50 18.45

TT8 3040 19 614.06

LPSleep 6047 2 135.10

TT8_Active 535 19 108.13

TT8_Sampling 3122 39 1267.59

TT8_CF8 378 45 176.93

TT8_Kalman 0 0 0.00

Analog_circuits 1720 12 210.60

GPS_charging 0 0 0.00

Compass 2893 15 442.71

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

17 -0.81 -155.7 0.0 0.0 0 93 0.00 0.00 -74.32 0.000 2 0.000 0.000 122 1489 3076 0 0 0 0 0 0

96 -0.81 -155.7 5.8 -9.8 10 120 9.32 0.00 -8.43 0.000 6 0.228 0.000 2476 1488 3521 0 0 0 0 0 0

438 -0.81 -155.7 121.9 -23.9 73 446 0.00 2.03 0.00 0.000 4 0.000 0.047 2470 204 3525 0 0 0 0 0 0

570 -0.81 -155.7 157.1 -26.1 97 578 0.00 1.98 0.00 0.000 6 0.000 0.037 2462 1489 3526 0 0 0 0 0 0

900 -0.81 -155.7 235.0 -23.2 158 908 0.00 2.03 0.00 0.000 4 0.000 0.047 2462 204 3527 0 0 0 0 0 0

959 -0.81 -155.7 249.5 -23.6 168 968 0.08 1.98 0.00 0.000 6 0.161 0.037 2477 1496 3527 0 0 0 0 0 0

1285 -0.81 -155.7 311.8 -16.5 199 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1498 3527 0 0 0 0 0 0

1603 -0.81 -155.7 367.7 -17.3 229 1607 0.00 2.00 0.00 0.000 4 0.000 0.047 2478 202 3527 0 0 0 0 0 0

1717 -0.81 -155.7 388.7 -17.3 239 1720 0.00 1.95 0.00 0.000 6 0.000 0.036 2486 1502 3526 0 0 0 0 0 0

2047 -0.81 -155.7 445.2 -16.9 270 2051 0.00 2.12 0.00 0.000 4 0.000 0.048 2479 2906 3525 0 0 0 0 0 0

2065 -0.81 -155.7 448.1 -16.4 271 2069 0.00 2.12 0.00 0.000 6 0.000 0.038 2479 1501 3524 0 0 0 0 0 0

2396 -0.81 -155.7 500.1 -15.1 302 2400 0.00 2.05 0.00 0.000 4 0.000 0.050 2478 196 3522 0 0 0 0 0 0

2650 -0.81 -155.7 540.9 -16.1 324 2658 0.00 1.98 0.00 0.000 6 0.000 0.037 2467 1505 3520 0 0 0 0 0 0

2975 -0.81 -155.7 590.8 -15.1 355 2979 0.00 2.05 0.00 0.000 4 0.000 0.050 2468 196 3517 0 0 0 0 0 0

3060 -0.81 -155.7 604.6 -16.4 361 3066 0.00 1.98 0.00 0.000 6 0.000 0.038 2459 1500 3517 0 0 0 0 0 0

3376 -0.81 -155.7 655.6 -15.8 377 3381 0.10 2.03 0.00 0.000 4 0.194 0.051 2484 205 3513 0 0 0 0 0 0

3488 -0.81 -155.7 672.3 -14.0 382 3492 0.00 1.98 0.00 0.000 6 0.000 0.040 2475 1508 3513 0 0 0 0 0 0

3823 -0.81 -155.7 715.6 -12.8 398 3824 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1509 3509 0 0 0 0 0 0

4131 -0.81 -155.7 757.2 -13.6 413 4134 0.00 2.03 0.00 0.000 4 0.000 0.054 2472 206 3507 0 0 0 0 0 0

4255 -0.81 -155.7 774.8 -13.9 418 4259 0.00 2.03 0.00 0.000 6 0.000 0.047 2468 1520 3505 0 0 0 0 0 0

4576 -0.81 -155.7 818.1 -13.2 434 4580 0.00 2.15 0.00 0.000 4 0.000 0.054 2452 2917 3502 0 0 0 0 0 0

4631 -0.81 -155.7 825.1 -12.4 436 4639 0.00 2.15 0.00 0.000 6 0.000 0.043 2455 1497 3501 0 0 0 0 0 0

4949 -0.81 -155.7 866.9 -13.5 452 4953 0.12 2.00 0.00 0.000 4 0.177 0.057 2490 205 3499 0 0 0 0 0 0

5095 -0.81 -155.7 886.3 -13.0 458 5098 0.00 2.00 0.00 0.000 6 0.000 0.043 2475 1509 3498 0 0 0 0 0 0

5418 -0.81 -155.7 925.9 -12.0 474 5421 0.00 2.05 0.00 0.000 4 0.000 0.054 2477 205 3495 0 0 0 0 0 0

5490 -0.81 -155.7 935.6 -12.9 477 5494 0.00 2.03 0.00 0.000 6 0.000 0.045 2461 1499 3495 0 0 0 0 0 0

5820 -0.81 -155.7 974.8 -12.0 493 5824 0.00 2.17 0.00 0.000 4 0.000 0.057 2449 2908 3493 0 0 0 0 0 0

5867 -0.81 -155.7 980.3 -11.7 495 5872 0.12 2.15 0.00 0.000 6 0.169 0.044 2485 1504 3493 0 0 0 0 0 0

5964 end dive: TARGET_DEPTH_EXCEEDED

state 5964 begin apogee

5970 -0.18 0.0 991.0 10.3 500 6106 0.60 0.00 127.25 1.450 6 0.132 0.000 2677 1857 2884 0 0 0 0 0 0

6107 end apogee: CONTROL_FINISHED_OK

state 6107 begin climb

6109 0.81 155.7 993.2 0.0 506 6258 0.93 2.42 139.95 1.388 4 0.073 0.062 2995 3246 2248 0 0 0 0 0 0

6347 0.81 155.7 956.8 20.3 517 6351 0.00 2.25 0.00 0.000 6 0.000 0.044 3004 1851 2243 0 0 0 0 0 0

6677 0.81 155.7 890.9 19.7 533 6681 0.00 2.25 0.00 0.000 4 0.000 0.059 2995 3260 2238 0 0 0 0 0 0

6698 0.81 155.7 885.7 19.6 534 6702 0.00 2.20 0.00 0.000 6 0.000 0.044 3004 1844 2237 0 0 0 0 0 0

7025 0.81 155.7 821.3 19.8 550 7029 0.00 2.20 0.00 0.000 4 0.000 0.054 3015 438 2236 0 0 0 0 0 0

7058 0.81 155.7 814.4 19.7 551 7065 0.00 2.20 0.00 0.000 6 0.000 0.045 3008 1854 2236 0 0 0 0 0 0

7376 0.81 155.7 755.2 18.8 567 7380 0.00 2.17 0.00 0.000 4 0.000 0.058 3008 3258 2234 0 0 0 0 0 0

7504 0.81 155.7 729.4 19.1 572 7512 0.00 2.15 0.00 0.000 6 0.000 0.043 3017 1849 2233 0 0 0 0 0 0

7822 0.81 155.7 668.8 19.8 588 7826 0.00 2.20 0.00 0.000 4 0.000 0.057 3008 3261 2232 0 0 0 0 0 0

7926 0.81 155.7 646.5 21.1 592 7935 0.00 2.17 0.00 0.000 6 0.000 0.042 3018 1836 2232 0 0 0 0 0 0

8246 0.81 155.7 589.3 17.4 610 8247 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 1836 2231 0 0 0 0 0 0

8563 0.81 155.7 535.5 16.2 640 8565 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 1836 2230 0 0 0 0 0 0

8884 0.81 155.7 482.8 16.2 670 8888 0.00 2.20 0.00 0.000 4 0.000 0.055 3009 3257 2230 0 0 0 0 0 0

8996 0.81 155.7 463.4 16.8 679 9003 0.00 2.15 0.00 0.000 6 0.000 0.040 3017 1837 2229 0 0 0 0 0 0

9322 0.81 155.7 410.0 16.9 710 9326 0.00 2.15 0.00 0.000 4 0.000 0.049 3030 433 2229 0 0 0 0 0 0

9407 0.81 155.7 395.5 17.9 717 9411 0.00 2.17 0.00 0.000 6 0.000 0.041 3026 1861 2228 0 0 0 0 0 0

9732 0.81 155.7 340.3 17.4 747 9736 0.00 2.15 0.00 0.000 4 0.000 0.054 3030 3260 2228 0 0 0 0 0 0

9799 0.81 155.7 328.1 18.0 752 9807 0.12 2.12 0.00 0.000 6 0.203 0.040 3010 1850 2228 0 0 0 0 0 0

10125 0.81 155.7 277.7 14.0 783 10126 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1850 2228 0 0 0 0 0 0

10442 0.81 155.7 237.1 11.4 823 10450 0.00 2.20 0.00 0.000 4 0.000 0.050 3006 3261 2228 0 0 0 0 0 0

10548 0.81 155.7 224.9 11.2 842 10555 0.00 2.15 0.00 0.000 6 0.000 0.038 3015 1847 2228 0 0 0 0 0 0

10876 0.81 155.7 187.3 11.2 903 10884 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 1848 2228 0 0 0 0 0 0

11202 0.81 155.7 150.2 10.9 964 11210 0.00 2.20 0.00 0.000 4 0.000 0.049 3007 3261 2228 0 0 0 0 0 0

11244 0.81 155.7 144.8 12.5 971 11252 0.00 2.15 0.00 0.000 6 0.000 0.037 3014 1848 2228 0 0 0 0 0 0

11572 0.83 176.3 108.7 8.8 1032 11598 0.00 2.20 15.50 0.722 4 0.000 0.045 3025 436 2164 0 0 0 0 0 0

11627 0.86 199.7 103.6 8.7 1040 11658 0.00 2.15 21.20 0.728 6 0.000 0.035 3016 1847 2069 0 0 0 0 0 0

11978 0.86 200.1 68.8 9.7 1104 11986 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 1847 2067 0 0 0 0 0 0

12305 1.01 324.5 45.2 4.5 1165 12417 0.15 2.22 103.12 0.691 4 0.078 0.044 3089 3267 1560 0 0 0 0 0 0

12501 1.01 324.5 24.9 15.1 1195 12509 0.00 2.22 0.00 0.000 6 0.000 0.035 3097 1850 1559 0 0 0 0 0 0

12652 end climb: SURFACE_DEPTH_REACHED

state 12652 begin surface coast

12669 end surface coast: CONTROL_FINISHED_OK

state 12669 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	128	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	40	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	47	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	-24553.768	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	280811,013836,2248.081,12351.478,39,1.7,39,-3.1	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	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280811,014502,2248.152,12351.396,35,1.8,35,-3.1	MHEAD_RNG_PITCHd_Wd	142.1,145495,-17.2,-9.706
SPEED_LIMITS	0.168,0.265	D_GRID	5000

FINISH	1.0,0.999332	_10V_AH	10.2,21.990
SM_CCo	12686,58.08,0.495,1,0,1252,400.08	FG_AHR_24Vo	0.000
SM_GC	2.04,0.00,0.00,58.08,0.000,0.000,0.495,153,1488,1252,-8.10,-0.34,400.08,0,0,0,0,1,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2241.69,12353.07,270811,212144	MEM	330196
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	70325,1225
HUMID	35.66	CAP_FILE_SIZE	134560,0
INTERNAL_PRESSURE	9.43854	CFSIZE	260165632,136015872
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	75	CURRENT	0.199,271.3,1
_24V_AH	23.3,32.232	GPS	280811,051938,2247.008,12351.549,63,1.2,64,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	227	103.84	SBE_CT	836	24	468.03
Roll_motor	102	61	148.35	AA3830	1254	33	964.72
VBD_pump_during_apogee	407	1449	13748.26	WL_BB2F	1574	105	3852.82
VBD_pump_during_surface	58	494	669.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.80	nil	0	0	0.00
Iridium_during_connect	24	160	90.99	nil	0	0	0.00
Iridium_during_xfer	158	223	825.17	nil	0	0	0.00
Transponder_ping	18	420	183.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	50	18.45
TT8	3040	19	614.06
LPSleep	6047	2	135.10
TT8_Active	535	19	108.13
TT8_Sampling	3122	39	1267.59
TT8_CF8	378	45	176.93
TT8_Kalman	0	0	0.00
Analog_circuits	1720	12	210.60
GPS_charging	0	0	0.00
Compass	2893	15	442.71
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
17	-0.81	-155.7	0.0	0.0	0	93	0.00	0.00	-74.32	0.000	2	0.000	0.000	122	1489	3076	0	0	0	0	0	0
96	-0.81	-155.7	5.8	-9.8	10	120	9.32	0.00	-8.43	0.000	6	0.228	0.000	2476	1488	3521	0	0	0	0	0	0
438	-0.81	-155.7	121.9	-23.9	73	446	0.00	2.03	0.00	0.000	4	0.000	0.047	2470	204	3525	0	0	0	0	0	0
570	-0.81	-155.7	157.1	-26.1	97	578	0.00	1.98	0.00	0.000	6	0.000	0.037	2462	1489	3526	0	0	0	0	0	0
900	-0.81	-155.7	235.0	-23.2	158	908	0.00	2.03	0.00	0.000	4	0.000	0.047	2462	204	3527	0	0	0	0	0	0
959	-0.81	-155.7	249.5	-23.6	168	968	0.08	1.98	0.00	0.000	6	0.161	0.037	2477	1496	3527	0	0	0	0	0	0
1285	-0.81	-155.7	311.8	-16.5	199	1286	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1498	3527	0	0	0	0	0	0
1603	-0.81	-155.7	367.7	-17.3	229	1607	0.00	2.00	0.00	0.000	4	0.000	0.047	2478	202	3527	0	0	0	0	0	0
1717	-0.81	-155.7	388.7	-17.3	239	1720	0.00	1.95	0.00	0.000	6	0.000	0.036	2486	1502	3526	0	0	0	0	0	0
2047	-0.81	-155.7	445.2	-16.9	270	2051	0.00	2.12	0.00	0.000	4	0.000	0.048	2479	2906	3525	0	0	0	0	0	0
2065	-0.81	-155.7	448.1	-16.4	271	2069	0.00	2.12	0.00	0.000	6	0.000	0.038	2479	1501	3524	0	0	0	0	0	0
2396	-0.81	-155.7	500.1	-15.1	302	2400	0.00	2.05	0.00	0.000	4	0.000	0.050	2478	196	3522	0	0	0	0	0	0
2650	-0.81	-155.7	540.9	-16.1	324	2658	0.00	1.98	0.00	0.000	6	0.000	0.037	2467	1505	3520	0	0	0	0	0	0
2975	-0.81	-155.7	590.8	-15.1	355	2979	0.00	2.05	0.00	0.000	4	0.000	0.050	2468	196	3517	0	0	0	0	0	0
3060	-0.81	-155.7	604.6	-16.4	361	3066	0.00	1.98	0.00	0.000	6	0.000	0.038	2459	1500	3517	0	0	0	0	0	0
3376	-0.81	-155.7	655.6	-15.8	377	3381	0.10	2.03	0.00	0.000	4	0.194	0.051	2484	205	3513	0	0	0	0	0	0
3488	-0.81	-155.7	672.3	-14.0	382	3492	0.00	1.98	0.00	0.000	6	0.000	0.040	2475	1508	3513	0	0	0	0	0	0
3823	-0.81	-155.7	715.6	-12.8	398	3824	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	1509	3509	0	0	0	0	0	0
4131	-0.81	-155.7	757.2	-13.6	413	4134	0.00	2.03	0.00	0.000	4	0.000	0.054	2472	206	3507	0	0	0	0	0	0
4255	-0.81	-155.7	774.8	-13.9	418	4259	0.00	2.03	0.00	0.000	6	0.000	0.047	2468	1520	3505	0	0	0	0	0	0
4576	-0.81	-155.7	818.1	-13.2	434	4580	0.00	2.15	0.00	0.000	4	0.000	0.054	2452	2917	3502	0	0	0	0	0	0
4631	-0.81	-155.7	825.1	-12.4	436	4639	0.00	2.15	0.00	0.000	6	0.000	0.043	2455	1497	3501	0	0	0	0	0	0
4949	-0.81	-155.7	866.9	-13.5	452	4953	0.12	2.00	0.00	0.000	4	0.177	0.057	2490	205	3499	0	0	0	0	0	0
5095	-0.81	-155.7	886.3	-13.0	458	5098	0.00	2.00	0.00	0.000	6	0.000	0.043	2475	1509	3498	0	0	0	0	0	0
5418	-0.81	-155.7	925.9	-12.0	474	5421	0.00	2.05	0.00	0.000	4	0.000	0.054	2477	205	3495	0	0	0	0	0	0
5490	-0.81	-155.7	935.6	-12.9	477	5494	0.00	2.03	0.00	0.000	6	0.000	0.045	2461	1499	3495	0	0	0	0	0	0
5820	-0.81	-155.7	974.8	-12.0	493	5824	0.00	2.17	0.00	0.000	4	0.000	0.057	2449	2908	3493	0	0	0	0	0	0
5867	-0.81	-155.7	980.3	-11.7	495	5872	0.12	2.15	0.00	0.000	6	0.169	0.044	2485	1504	3493	0	0	0	0	0	0
5964	end dive: TARGET_DEPTH_EXCEEDED
state	5964	begin apogee
5970	-0.18	0.0	991.0	10.3	500	6106	0.60	0.00	127.25	1.450	6	0.132	0.000	2677	1857	2884	0	0	0	0	0	0
6107	end apogee: CONTROL_FINISHED_OK
state	6107	begin climb
6109	0.81	155.7	993.2	0.0	506	6258	0.93	2.42	139.95	1.388	4	0.073	0.062	2995	3246	2248	0	0	0	0	0	0
6347	0.81	155.7	956.8	20.3	517	6351	0.00	2.25	0.00	0.000	6	0.000	0.044	3004	1851	2243	0	0	0	0	0	0
6677	0.81	155.7	890.9	19.7	533	6681	0.00	2.25	0.00	0.000	4	0.000	0.059	2995	3260	2238	0	0	0	0	0	0
6698	0.81	155.7	885.7	19.6	534	6702	0.00	2.20	0.00	0.000	6	0.000	0.044	3004	1844	2237	0	0	0	0	0	0
7025	0.81	155.7	821.3	19.8	550	7029	0.00	2.20	0.00	0.000	4	0.000	0.054	3015	438	2236	0	0	0	0	0	0
7058	0.81	155.7	814.4	19.7	551	7065	0.00	2.20	0.00	0.000	6	0.000	0.045	3008	1854	2236	0	0	0	0	0	0
7376	0.81	155.7	755.2	18.8	567	7380	0.00	2.17	0.00	0.000	4	0.000	0.058	3008	3258	2234	0	0	0	0	0	0
7504	0.81	155.7	729.4	19.1	572	7512	0.00	2.15	0.00	0.000	6	0.000	0.043	3017	1849	2233	0	0	0	0	0	0
7822	0.81	155.7	668.8	19.8	588	7826	0.00	2.20	0.00	0.000	4	0.000	0.057	3008	3261	2232	0	0	0	0	0	0
7926	0.81	155.7	646.5	21.1	592	7935	0.00	2.17	0.00	0.000	6	0.000	0.042	3018	1836	2232	0	0	0	0	0	0
8246	0.81	155.7	589.3	17.4	610	8247	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	1836	2231	0	0	0	0	0	0
8563	0.81	155.7	535.5	16.2	640	8565	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	1836	2230	0	0	0	0	0	0
8884	0.81	155.7	482.8	16.2	670	8888	0.00	2.20	0.00	0.000	4	0.000	0.055	3009	3257	2230	0	0	0	0	0	0
8996	0.81	155.7	463.4	16.8	679	9003	0.00	2.15	0.00	0.000	6	0.000	0.040	3017	1837	2229	0	0	0	0	0	0
9322	0.81	155.7	410.0	16.9	710	9326	0.00	2.15	0.00	0.000	4	0.000	0.049	3030	433	2229	0	0	0	0	0	0
9407	0.81	155.7	395.5	17.9	717	9411	0.00	2.17	0.00	0.000	6	0.000	0.041	3026	1861	2228	0	0	0	0	0	0
9732	0.81	155.7	340.3	17.4	747	9736	0.00	2.15	0.00	0.000	4	0.000	0.054	3030	3260	2228	0	0	0	0	0	0
9799	0.81	155.7	328.1	18.0	752	9807	0.12	2.12	0.00	0.000	6	0.203	0.040	3010	1850	2228	0	0	0	0	0	0
10125	0.81	155.7	277.7	14.0	783	10126	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1850	2228	0	0	0	0	0	0
10442	0.81	155.7	237.1	11.4	823	10450	0.00	2.20	0.00	0.000	4	0.000	0.050	3006	3261	2228	0	0	0	0	0	0
10548	0.81	155.7	224.9	11.2	842	10555	0.00	2.15	0.00	0.000	6	0.000	0.038	3015	1847	2228	0	0	0	0	0	0
10876	0.81	155.7	187.3	11.2	903	10884	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	1848	2228	0	0	0	0	0	0
11202	0.81	155.7	150.2	10.9	964	11210	0.00	2.20	0.00	0.000	4	0.000	0.049	3007	3261	2228	0	0	0	0	0	0
11244	0.81	155.7	144.8	12.5	971	11252	0.00	2.15	0.00	0.000	6	0.000	0.037	3014	1848	2228	0	0	0	0	0	0
11572	0.83	176.3	108.7	8.8	1032	11598	0.00	2.20	15.50	0.722	4	0.000	0.045	3025	436	2164	0	0	0	0	0	0
11627	0.86	199.7	103.6	8.7	1040	11658	0.00	2.15	21.20	0.728	6	0.000	0.035	3016	1847	2069	0	0	0	0	0	0
11978	0.86	200.1	68.8	9.7	1104	11986	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	1847	2067	0	0	0	0	0	0
12305	1.01	324.5	45.2	4.5	1165	12417	0.15	2.22	103.12	0.691	4	0.078	0.044	3089	3267	1560	0	0	0	0	0	0
12501	1.01	324.5	24.9	15.1	1195	12509	0.00	2.22	0.00	0.000	6	0.000	0.035	3097	1850	1559	0	0	0	0	0	0
12652	end climb: SURFACE_DEPTH_REACHED
state	12652	begin surface coast
12669	end surface coast: CONTROL_FINISHED_OK
state	12669	begin surface