Glider dive log

OKMC Aug11 * SG166 * Dive index * Mission links * Dive 129 * 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 129 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 38 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 -24555.025 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 -24555.025

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 38 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 129 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 280811,051938,2247.008,12351.549,63,1.2,64,-3.1 TGT_NAME N3

_CALLS 2 TGT_LATLONG 2130.000,12400.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280811,053108,2247.135,12351.359,49,1.5,49,-3.1 MHEAD_RNG_PITCHd_Wd 132.1,143628,-17.2,-9.706

SPEED_LIMITS 0.168,0.265 D_GRID 5000

Post-dive calculations and measurements:

FINISH 0.9,1.009026 _10V_AH 10.2,22.145

SM_CCo 13189,40.05,0.418,1,0,1252,400.08 FG_AHR_24Vo 0.000

SM_GC 1.73,0.00,0.00,40.05,0.000,0.000,0.418,154,1501,1252,-8.10,0.03,400.08,0,0,0,0,1,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2237.01,12349.83,280811,050500 MEM 330252

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 73509,1273

HUMID 34.80 CAP_FILE_SIZE 139248,0

INTERNAL_PRESSURE 9.44831 CFSIZE 260165632,135933952

TCM_TEMP 25.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 79 CURRENT 0.156,297.2,1

_24V_AH 23.3,32.401 GPS 280811,091337,2246.794,12352.015,52,2.0,52,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 226 101.30 SBE_CT 869 24 486.42

Roll_motor 102 62 149.23 AA3830 1302 33 1001.43

VBD_pump_during_apogee 430 1454 14581.29 WL_BB2F 1653 105 4045.61

VBD_pump_during_surface 40 418 390.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 103 146.39 nil 0 0 0.00

Iridium_during_connect 80 160 299.76 nil 0 0 0.00

Iridium_during_xfer 279 223 1451.09 nil 0 0 0.00

Transponder_ping 19 420 193.27 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 50 50 25.56

TT8 3149 19 636.01

LPSleep 6361 2 142.09

TT8_Active 532 19 107.57

TT8_Sampling 3475 39 1410.92

TT8_CF8 394 45 184.31

TT8_Kalman 0 0 0.00

Analog_circuits 1751 12 214.37

GPS_charging 0 0 0.00

Compass 3010 15 460.58

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

20 -0.81 -155.7 0.0 0.0 0 94 0.00 0.00 -71.45 0.000 2 0.000 0.000 135 1488 2984 0 0 0 0 0 0

97 -0.81 -155.7 5.2 -7.9 10 122 9.30 1.98 -10.85 0.000 4 0.226 0.051 2483 206 3520 0 0 0 0 0 0

151 -0.81 -155.7 29.0 -43.2 18 159 0.00 2.00 0.00 0.000 6 0.000 0.035 2474 1502 3521 0 0 0 0 0 0

477 -0.81 -155.7 118.8 -25.5 79 485 0.00 2.03 0.00 0.000 4 0.000 0.042 2477 203 3524 0 0 0 0 0 0

537 -0.81 -155.7 133.6 -24.6 89 545 0.00 1.98 0.00 0.000 6 0.000 0.034 2468 1500 3524 0 0 0 0 0 0

864 -0.81 -155.7 205.2 -21.0 150 872 0.00 2.03 0.00 0.000 4 0.000 0.044 2469 202 3525 0 0 0 0 0 0

964 -0.81 -155.7 226.7 -21.1 168 973 0.00 1.98 0.00 0.000 6 0.000 0.036 2459 1502 3525 0 0 0 0 0 0

1300 -0.81 -155.7 293.2 -18.5 209 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1502 3525 0 0 0 0 0 0

1620 -0.81 -155.7 348.5 -16.0 239 1624 0.00 2.00 0.00 0.000 4 0.000 0.048 2473 211 3524 0 0 0 0 0 0

1785 -0.81 -155.7 379.6 -18.6 253 1792 0.00 1.95 0.00 0.000 6 0.000 0.037 2467 1505 3523 0 0 0 0 0 0

2110 -0.81 -155.7 437.8 -17.1 284 2114 0.00 2.00 0.00 0.000 4 0.000 0.048 2467 206 3522 0 0 0 0 0 0

2264 -0.81 -155.7 466.0 -19.6 297 2270 0.00 1.95 0.00 0.000 6 0.000 0.038 2457 1499 3520 0 0 0 0 0 0

2589 -0.81 -155.7 522.8 -16.9 328 2593 0.10 2.03 0.00 0.000 4 0.196 0.049 2485 201 3518 0 0 0 0 0 0

2651 -0.81 -155.7 532.8 -16.0 333 2657 0.00 1.98 0.00 0.000 6 0.000 0.037 2476 1512 3517 0 0 0 0 0 0

2976 -0.81 -155.7 577.4 -13.1 364 2979 0.00 2.00 0.00 0.000 4 0.000 0.048 2477 202 3514 0 0 0 0 0 0

3014 -0.81 -155.7 583.1 -14.9 367 3021 0.00 1.98 0.00 0.000 6 0.000 0.039 2468 1491 3514 0 0 0 0 0 0

3346 -0.81 -155.7 628.2 -13.4 389 3350 0.00 1.98 0.00 0.000 4 0.000 0.049 2468 193 3511 0 0 0 0 0 0

3463 -0.81 -155.7 645.4 -14.2 394 3467 0.00 2.00 0.00 0.000 6 0.000 0.039 2459 1496 3510 0 0 0 0 0 0

3793 -0.81 -155.7 691.3 -14.3 410 3797 0.00 2.17 0.00 0.000 4 0.000 0.052 2444 2914 3506 0 0 0 0 0 0

3814 -0.81 -155.7 694.9 -14.3 411 3819 0.10 2.15 0.00 0.000 6 0.148 0.041 2477 1513 3506 0 0 0 0 0 0

4143 -0.81 -155.7 734.7 -12.1 427 4146 0.00 2.03 0.00 0.000 4 0.000 0.054 2474 198 3503 0 0 0 0 0 0

4288 -0.81 -155.7 754.7 -13.6 433 4292 0.00 2.00 0.00 0.000 6 0.000 0.041 2465 1499 3502 0 0 0 0 0 0

4610 -0.81 -155.7 795.0 -12.4 449 4614 0.00 2.03 0.00 0.000 4 0.000 0.053 2471 199 3499 0 0 0 0 0 0

4794 -0.81 -155.7 820.7 -13.4 457 4799 0.00 2.00 0.00 0.000 6 0.000 0.041 2464 1495 3497 0 0 0 0 0 0

5123 -0.81 -155.7 858.3 -11.1 473 5124 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1496 3495 0 0 0 0 0 0

5433 -0.81 -155.7 894.4 -11.6 488 5437 0.00 2.03 0.00 0.000 4 0.000 0.056 2465 195 3492 0 0 0 0 0 0

5578 -0.81 -155.7 914.0 -13.7 494 5582 0.00 2.03 0.00 0.000 6 0.000 0.044 2456 1499 3491 0 0 0 0 0 0

5902 -0.81 -155.7 955.0 -12.7 510 5906 0.10 2.22 0.00 0.000 4 0.200 0.057 2470 2916 3489 0 0 0 0 0 0

5956 -0.81 -155.7 961.6 -10.9 512 5964 0.00 2.17 0.00 0.000 6 0.000 0.045 2470 1494 3489 0 0 0 0 0 0

6209 end dive: TARGET_DEPTH_EXCEEDED

state 6209 begin apogee

6217 -0.18 0.0 990.7 11.5 525 6351 0.68 0.00 126.50 1.454 6 0.140 0.000 2680 1861 2883 0 0 0 0 0 0

6352 end apogee: CONTROL_FINISHED_OK

state 6352 begin climb

6354 0.81 155.7 993.4 0.0 531 6503 0.93 2.40 140.10 1.393 4 0.080 0.063 3000 3241 2248 0 0 0 0 0 0

6536 0.81 155.7 970.2 18.8 539 6543 0.00 2.28 0.00 0.000 6 0.000 0.044 3009 1843 2245 0 0 0 0 0 0

6854 0.81 155.7 910.3 18.7 555 6858 0.00 2.25 0.00 0.000 4 0.000 0.060 3006 3254 2240 0 0 0 0 0 0

6959 0.81 155.7 889.7 18.1 559 6966 0.00 2.17 0.00 0.000 6 0.000 0.044 3011 1848 2238 0 0 0 0 0 0

7275 0.81 155.7 833.3 17.4 575 7279 0.00 2.20 0.00 0.000 4 0.000 0.054 3022 432 2237 0 0 0 0 0 0

7340 0.81 155.7 822.2 18.1 578 7344 0.00 2.20 0.00 0.000 6 0.000 0.045 3017 1851 2236 0 0 0 0 0 0

7667 0.81 155.7 767.8 16.1 594 7671 0.00 2.17 0.00 0.000 4 0.000 0.057 3010 3260 2234 0 0 0 0 0 0

7727 0.81 155.7 757.1 17.4 596 7735 0.00 2.17 0.00 0.000 6 0.000 0.043 3017 1833 2233 0 0 0 0 0 0

8045 0.81 155.7 702.2 18.1 612 8047 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1833 2233 0 0 0 0 0 0

8353 0.81 155.7 646.9 17.8 627 8357 0.00 2.22 0.00 0.000 4 0.000 0.056 3007 3263 2232 0 0 0 0 0 0

8514 0.81 155.7 617.3 18.9 634 8519 0.00 2.15 0.00 0.000 6 0.000 0.042 3016 1850 2231 0 0 0 0 0 0

8838 0.81 155.7 555.8 18.2 660 8842 0.00 2.20 0.00 0.000 4 0.000 0.055 3008 3263 2231 0 0 0 0 0 0

8903 0.81 155.7 544.0 18.3 665 8907 0.00 2.15 0.00 0.000 6 0.000 0.041 3017 1847 2230 0 0 0 0 0 0

9228 0.81 155.7 487.6 16.3 695 9232 0.00 2.20 0.00 0.000 4 0.000 0.054 3009 3257 2230 0 0 0 0 0 0

9263 0.81 155.7 481.9 17.0 697 9270 0.00 2.15 0.00 0.000 6 0.000 0.039 3017 1842 2229 0 0 0 0 0 0

9588 0.81 155.7 427.0 16.0 728 9589 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 1842 2229 0 0 0 0 0 0

9912 0.81 155.7 377.7 15.9 758 9916 0.00 2.20 0.00 0.000 4 0.000 0.050 3015 3265 2229 0 0 0 0 0 0

9922 0.81 155.7 375.2 15.5 758 9929 0.00 2.15 0.00 0.000 6 0.000 0.037 3026 1852 2228 0 0 0 0 0 0

10248 0.81 155.7 330.3 13.8 789 10249 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 1852 2228 0 0 0 0 0 0

10571 0.81 155.7 281.6 15.0 819 10575 0.00 2.17 0.00 0.000 4 0.000 0.049 3018 3263 2228 0 0 0 0 0 0

10675 0.81 155.7 264.9 15.2 828 10684 0.00 2.15 0.00 0.000 6 0.000 0.036 3027 1850 2228 0 0 0 0 0 0

11000 0.81 155.7 221.9 11.7 879 11008 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 1850 2228 0 0 0 0 0 0

11326 0.81 155.7 183.0 12.1 940 11334 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 1849 2228 0 0 0 0 0 0

11650 0.81 155.7 143.8 13.0 1001 11658 0.00 2.22 0.00 0.000 4 0.000 0.047 3019 3258 2229 0 0 0 0 0 0

11875 0.81 155.7 117.6 10.9 1042 11883 0.00 2.15 0.00 0.000 6 0.000 0.034 3027 1848 2228 0 0 0 0 0 0

12201 0.81 155.7 88.6 10.1 1103 12209 0.00 2.17 0.00 0.000 4 0.000 0.044 3037 437 2229 0 0 0 0 0 0

12449 0.88 219.2 60.3 7.0 1148 12511 0.00 2.15 50.80 0.714 6 0.000 0.033 3029 1866 1989 0 0 0 0 0 0

12834 1.05 356.3 46.4 4.0 1216 12952 0.15 0.00 112.93 0.682 6 0.078 0.000 3111 1866 1430 0 0 0 0 0 0

13154 end climb: SURFACE_DEPTH_REACHED

state 13154 begin surface coast

13171 end surface coast: CONTROL_FINISHED_OK

state 13172 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	129	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	38	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	-24555.025	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	280811,051938,2247.008,12351.549,63,1.2,64,-3.1	TGT_NAME	N3
_CALLS	2	TGT_LATLONG	2130.000,12400.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280811,053108,2247.135,12351.359,49,1.5,49,-3.1	MHEAD_RNG_PITCHd_Wd	132.1,143628,-17.2,-9.706
SPEED_LIMITS	0.168,0.265	D_GRID	5000

FINISH	0.9,1.009026	_10V_AH	10.2,22.145
SM_CCo	13189,40.05,0.418,1,0,1252,400.08	FG_AHR_24Vo	0.000
SM_GC	1.73,0.00,0.00,40.05,0.000,0.000,0.418,154,1501,1252,-8.10,0.03,400.08,0,0,0,0,1,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2237.01,12349.83,280811,050500	MEM	330252
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	73509,1273
HUMID	34.80	CAP_FILE_SIZE	139248,0
INTERNAL_PRESSURE	9.44831	CFSIZE	260165632,135933952
TCM_TEMP	25.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	79	CURRENT	0.156,297.2,1
_24V_AH	23.3,32.401	GPS	280811,091337,2246.794,12352.015,52,2.0,52,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	226	101.30	SBE_CT	869	24	486.42
Roll_motor	102	62	149.23	AA3830	1302	33	1001.43
VBD_pump_during_apogee	430	1454	14581.29	WL_BB2F	1653	105	4045.61
VBD_pump_during_surface	40	418	390.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	103	146.39	nil	0	0	0.00
Iridium_during_connect	80	160	299.76	nil	0	0	0.00
Iridium_during_xfer	279	223	1451.09	nil	0	0	0.00
Transponder_ping	19	420	193.27	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	50	50	25.56
TT8	3149	19	636.01
LPSleep	6361	2	142.09
TT8_Active	532	19	107.57
TT8_Sampling	3475	39	1410.92
TT8_CF8	394	45	184.31
TT8_Kalman	0	0	0.00
Analog_circuits	1751	12	214.37
GPS_charging	0	0	0.00
Compass	3010	15	460.58
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
20	-0.81	-155.7	0.0	0.0	0	94	0.00	0.00	-71.45	0.000	2	0.000	0.000	135	1488	2984	0	0	0	0	0	0
97	-0.81	-155.7	5.2	-7.9	10	122	9.30	1.98	-10.85	0.000	4	0.226	0.051	2483	206	3520	0	0	0	0	0	0
151	-0.81	-155.7	29.0	-43.2	18	159	0.00	2.00	0.00	0.000	6	0.000	0.035	2474	1502	3521	0	0	0	0	0	0
477	-0.81	-155.7	118.8	-25.5	79	485	0.00	2.03	0.00	0.000	4	0.000	0.042	2477	203	3524	0	0	0	0	0	0
537	-0.81	-155.7	133.6	-24.6	89	545	0.00	1.98	0.00	0.000	6	0.000	0.034	2468	1500	3524	0	0	0	0	0	0
864	-0.81	-155.7	205.2	-21.0	150	872	0.00	2.03	0.00	0.000	4	0.000	0.044	2469	202	3525	0	0	0	0	0	0
964	-0.81	-155.7	226.7	-21.1	168	973	0.00	1.98	0.00	0.000	6	0.000	0.036	2459	1502	3525	0	0	0	0	0	0
1300	-0.81	-155.7	293.2	-18.5	209	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	1502	3525	0	0	0	0	0	0
1620	-0.81	-155.7	348.5	-16.0	239	1624	0.00	2.00	0.00	0.000	4	0.000	0.048	2473	211	3524	0	0	0	0	0	0
1785	-0.81	-155.7	379.6	-18.6	253	1792	0.00	1.95	0.00	0.000	6	0.000	0.037	2467	1505	3523	0	0	0	0	0	0
2110	-0.81	-155.7	437.8	-17.1	284	2114	0.00	2.00	0.00	0.000	4	0.000	0.048	2467	206	3522	0	0	0	0	0	0
2264	-0.81	-155.7	466.0	-19.6	297	2270	0.00	1.95	0.00	0.000	6	0.000	0.038	2457	1499	3520	0	0	0	0	0	0
2589	-0.81	-155.7	522.8	-16.9	328	2593	0.10	2.03	0.00	0.000	4	0.196	0.049	2485	201	3518	0	0	0	0	0	0
2651	-0.81	-155.7	532.8	-16.0	333	2657	0.00	1.98	0.00	0.000	6	0.000	0.037	2476	1512	3517	0	0	0	0	0	0
2976	-0.81	-155.7	577.4	-13.1	364	2979	0.00	2.00	0.00	0.000	4	0.000	0.048	2477	202	3514	0	0	0	0	0	0
3014	-0.81	-155.7	583.1	-14.9	367	3021	0.00	1.98	0.00	0.000	6	0.000	0.039	2468	1491	3514	0	0	0	0	0	0
3346	-0.81	-155.7	628.2	-13.4	389	3350	0.00	1.98	0.00	0.000	4	0.000	0.049	2468	193	3511	0	0	0	0	0	0
3463	-0.81	-155.7	645.4	-14.2	394	3467	0.00	2.00	0.00	0.000	6	0.000	0.039	2459	1496	3510	0	0	0	0	0	0
3793	-0.81	-155.7	691.3	-14.3	410	3797	0.00	2.17	0.00	0.000	4	0.000	0.052	2444	2914	3506	0	0	0	0	0	0
3814	-0.81	-155.7	694.9	-14.3	411	3819	0.10	2.15	0.00	0.000	6	0.148	0.041	2477	1513	3506	0	0	0	0	0	0
4143	-0.81	-155.7	734.7	-12.1	427	4146	0.00	2.03	0.00	0.000	4	0.000	0.054	2474	198	3503	0	0	0	0	0	0
4288	-0.81	-155.7	754.7	-13.6	433	4292	0.00	2.00	0.00	0.000	6	0.000	0.041	2465	1499	3502	0	0	0	0	0	0
4610	-0.81	-155.7	795.0	-12.4	449	4614	0.00	2.03	0.00	0.000	4	0.000	0.053	2471	199	3499	0	0	0	0	0	0
4794	-0.81	-155.7	820.7	-13.4	457	4799	0.00	2.00	0.00	0.000	6	0.000	0.041	2464	1495	3497	0	0	0	0	0	0
5123	-0.81	-155.7	858.3	-11.1	473	5124	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1496	3495	0	0	0	0	0	0
5433	-0.81	-155.7	894.4	-11.6	488	5437	0.00	2.03	0.00	0.000	4	0.000	0.056	2465	195	3492	0	0	0	0	0	0
5578	-0.81	-155.7	914.0	-13.7	494	5582	0.00	2.03	0.00	0.000	6	0.000	0.044	2456	1499	3491	0	0	0	0	0	0
5902	-0.81	-155.7	955.0	-12.7	510	5906	0.10	2.22	0.00	0.000	4	0.200	0.057	2470	2916	3489	0	0	0	0	0	0
5956	-0.81	-155.7	961.6	-10.9	512	5964	0.00	2.17	0.00	0.000	6	0.000	0.045	2470	1494	3489	0	0	0	0	0	0
6209	end dive: TARGET_DEPTH_EXCEEDED
state	6209	begin apogee
6217	-0.18	0.0	990.7	11.5	525	6351	0.68	0.00	126.50	1.454	6	0.140	0.000	2680	1861	2883	0	0	0	0	0	0
6352	end apogee: CONTROL_FINISHED_OK
state	6352	begin climb
6354	0.81	155.7	993.4	0.0	531	6503	0.93	2.40	140.10	1.393	4	0.080	0.063	3000	3241	2248	0	0	0	0	0	0
6536	0.81	155.7	970.2	18.8	539	6543	0.00	2.28	0.00	0.000	6	0.000	0.044	3009	1843	2245	0	0	0	0	0	0
6854	0.81	155.7	910.3	18.7	555	6858	0.00	2.25	0.00	0.000	4	0.000	0.060	3006	3254	2240	0	0	0	0	0	0
6959	0.81	155.7	889.7	18.1	559	6966	0.00	2.17	0.00	0.000	6	0.000	0.044	3011	1848	2238	0	0	0	0	0	0
7275	0.81	155.7	833.3	17.4	575	7279	0.00	2.20	0.00	0.000	4	0.000	0.054	3022	432	2237	0	0	0	0	0	0
7340	0.81	155.7	822.2	18.1	578	7344	0.00	2.20	0.00	0.000	6	0.000	0.045	3017	1851	2236	0	0	0	0	0	0
7667	0.81	155.7	767.8	16.1	594	7671	0.00	2.17	0.00	0.000	4	0.000	0.057	3010	3260	2234	0	0	0	0	0	0
7727	0.81	155.7	757.1	17.4	596	7735	0.00	2.17	0.00	0.000	6	0.000	0.043	3017	1833	2233	0	0	0	0	0	0
8045	0.81	155.7	702.2	18.1	612	8047	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1833	2233	0	0	0	0	0	0
8353	0.81	155.7	646.9	17.8	627	8357	0.00	2.22	0.00	0.000	4	0.000	0.056	3007	3263	2232	0	0	0	0	0	0
8514	0.81	155.7	617.3	18.9	634	8519	0.00	2.15	0.00	0.000	6	0.000	0.042	3016	1850	2231	0	0	0	0	0	0
8838	0.81	155.7	555.8	18.2	660	8842	0.00	2.20	0.00	0.000	4	0.000	0.055	3008	3263	2231	0	0	0	0	0	0
8903	0.81	155.7	544.0	18.3	665	8907	0.00	2.15	0.00	0.000	6	0.000	0.041	3017	1847	2230	0	0	0	0	0	0
9228	0.81	155.7	487.6	16.3	695	9232	0.00	2.20	0.00	0.000	4	0.000	0.054	3009	3257	2230	0	0	0	0	0	0
9263	0.81	155.7	481.9	17.0	697	9270	0.00	2.15	0.00	0.000	6	0.000	0.039	3017	1842	2229	0	0	0	0	0	0
9588	0.81	155.7	427.0	16.0	728	9589	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	1842	2229	0	0	0	0	0	0
9912	0.81	155.7	377.7	15.9	758	9916	0.00	2.20	0.00	0.000	4	0.000	0.050	3015	3265	2229	0	0	0	0	0	0
9922	0.81	155.7	375.2	15.5	758	9929	0.00	2.15	0.00	0.000	6	0.000	0.037	3026	1852	2228	0	0	0	0	0	0
10248	0.81	155.7	330.3	13.8	789	10249	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	1852	2228	0	0	0	0	0	0
10571	0.81	155.7	281.6	15.0	819	10575	0.00	2.17	0.00	0.000	4	0.000	0.049	3018	3263	2228	0	0	0	0	0	0
10675	0.81	155.7	264.9	15.2	828	10684	0.00	2.15	0.00	0.000	6	0.000	0.036	3027	1850	2228	0	0	0	0	0	0
11000	0.81	155.7	221.9	11.7	879	11008	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	1850	2228	0	0	0	0	0	0
11326	0.81	155.7	183.0	12.1	940	11334	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	1849	2228	0	0	0	0	0	0
11650	0.81	155.7	143.8	13.0	1001	11658	0.00	2.22	0.00	0.000	4	0.000	0.047	3019	3258	2229	0	0	0	0	0	0
11875	0.81	155.7	117.6	10.9	1042	11883	0.00	2.15	0.00	0.000	6	0.000	0.034	3027	1848	2228	0	0	0	0	0	0
12201	0.81	155.7	88.6	10.1	1103	12209	0.00	2.17	0.00	0.000	4	0.000	0.044	3037	437	2229	0	0	0	0	0	0
12449	0.88	219.2	60.3	7.0	1148	12511	0.00	2.15	50.80	0.714	6	0.000	0.033	3029	1866	1989	0	0	0	0	0	0
12834	1.05	356.3	46.4	4.0	1216	12952	0.15	0.00	112.93	0.682	6	0.078	0.000	3111	1866	1430	0	0	0	0	0	0
13154	end climb: SURFACE_DEPTH_REACHED
state	13154	begin surface coast
13171	end surface coast: CONTROL_FINISHED_OK
state	13172	begin surface