Glider dive log

OKMC Aug11 * SG166 * Dive index * Mission links * Dive 239 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HD_B 0.010078 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 30

DIVE 239 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 20 ALTIM_PING_DEPTH 0

D_FLARE 5 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1550 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1820 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 20 ALTIM_PULSE 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 3 SM_CC 450 ROLL_TIMEOUT 15 XPDR_VALID 4

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 55 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 49 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 260 UPLOAD_DIVES_MAX -1 C_VBD 2884 DEVICE3 35

T_MISSION 290 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 -24699.6 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 250 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 45 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 450

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 30 D_SURF 3 PITCH_ADJ_GAIN 0.0099999998 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 45 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 260

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 20 RAFOS_DEVICE -1 T_GPS_CHARGE -24699.6

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 290

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 1820 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 1550 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2884 LOGGERDEVICE3 -1 ROLL_DEG 20 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 250 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 8 R_PORT_OVSHOOT 55 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 49 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 239 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 170911,022737,2113.878,12339.061,41,1.2,41,-2.7 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170911,023414,2113.852,12339.193,16,1.5,16,-2.7 MHEAD_RNG_PITCHd_Wd 282.2,304875,-17.2,-12.692

SPEED_LIMITS 0.220,0.354 D_GRID 5000

Post-dive calculations and measurements:

FINISH 1.3,1.021321 _10V_AH 10.0,39.478

SM_CCo 14703,0.00,0.000,0,0,615,556.59 FG_AHR_24Vo 0.000

SM_GC 1.82,7.68,0.00,0.00,0.034,0.000,0.000,154,1532,615,-8.04,-0.51,556.59,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2104.07,12342.05,160911,222227 MEM 330220

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 73483,1309

HUMID 37.16 CAP_FILE_SIZE 143895,0

INTERNAL_PRESSURE 9.39948 CFSIZE 260165632,126472192

TCM_TEMP 25.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 76 CURRENT 0.281, 95.9,1

_24V_AH 22.8,56.511 GPS 170911,064101,2114.374,12338.856,42,1.1,42,-2.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 224 104.35 SBE_CT 893 24 488.89

Roll_motor 37 62 53.46 AA3830 1340 33 1008.33

VBD_pump_during_apogee 701 1442 23067.23 WL_BB2F 1349 105 3229.62

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.46 nil 0 0 0.00

Iridium_during_connect 39 160 143.64 nil 0 0 0.00

Iridium_during_xfer 169 223 863.41 nil 0 0 0.00

Transponder_ping 19 420 181.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.61

TT8 3201 19 633.97

LPSleep 7711 2 168.88

TT8_Active 734 19 145.50

TT8_Sampling 3034 39 1207.71

TT8_CF8 402 45 184.26

TT8_Kalman 0 0 0.00

Analog_circuits 1931 12 231.74

GPS_charging 0 0 0.00

Compass 2799 15 419.97

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

16 -0.68 -243.3 0.0 0.0 0 130 0.00 0.00 -111.03 0.000 2 0.000 0.000 149 1533 3159 0 0 0 0 0 0

133 -0.68 -243.3 6.3 -11.1 15 164 9.38 0.00 -12.73 0.000 6 0.225 0.000 2514 1530 3880 0 0 0 0 0 0

482 -0.55 -243.3 134.3 -30.1 79 490 0.17 0.00 0.00 0.000 6 0.179 0.000 2559 1530 3883 0 0 0 0 0 0

810 -0.52 -243.3 202.1 -16.6 140 818 0.00 1.05 0.00 0.000 4 0.000 0.043 2559 2239 3884 0 0 0 0 0 0

907 -0.51 -243.3 217.2 -15.3 157 917 0.10 1.02 0.00 0.000 6 0.132 0.040 2578 1554 3884 0 0 0 0 0 0

1242 -0.53 -243.3 255.8 -10.1 214 1246 0.00 1.02 0.00 0.000 4 0.000 0.044 2576 2239 3883 0 0 0 0 0 0

1370 -0.58 -243.3 268.1 -9.2 225 1377 0.00 1.05 0.00 0.000 6 0.000 0.041 2587 1542 3883 0 0 0 0 0 0

1695 -0.61 -243.3 306.2 -11.2 256 1700 0.12 1.08 0.00 0.000 4 0.084 0.047 2508 2240 3882 0 0 0 0 0 0

1797 -0.57 -243.3 324.1 -18.2 265 1802 0.15 1.05 0.00 0.000 6 0.134 0.043 2557 1546 3881 0 0 0 0 0 0

2128 -0.57 -243.3 371.6 -13.2 296 2129 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 1546 3880 0 0 0 0 0 0

2451 -0.58 -243.3 413.5 -12.5 326 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 1546 3878 0 0 0 0 0 0

2779 -0.61 -243.3 453.5 -11.0 357 2780 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 1546 3877 0 0 0 0 0 0

3099 -0.64 -243.3 485.7 -9.4 387 3103 0.00 1.08 0.00 0.000 4 0.000 0.049 2555 2243 3874 0 0 0 0 0 0

3287 -0.69 -243.3 502.2 -8.2 403 3293 0.00 1.05 0.00 0.000 6 0.000 0.044 2555 1556 3873 0 0 0 0 0 0

3613 -0.73 -243.3 532.7 -9.8 434 3615 0.12 0.00 0.00 0.000 6 0.083 0.000 2483 1556 3870 0 0 0 0 0 0

3930 -0.70 -243.3 585.2 -16.6 464 3932 0.12 0.00 0.00 0.000 6 0.164 0.000 2517 1556 3868 0 0 0 0 0 0

4253 -0.70 -243.3 627.8 -13.7 485 4256 0.00 1.08 0.00 0.000 4 0.000 0.050 2517 849 3865 0 0 0 0 0 0

4333 -0.71 -243.3 639.1 -14.3 488 4337 0.00 1.05 0.00 0.000 6 0.000 0.044 2514 1540 3864 0 0 0 0 0 0

4654 -0.71 -243.3 683.4 -13.7 504 4658 0.00 1.05 0.00 0.000 4 0.000 0.054 2509 2235 3861 0 0 0 0 0 0

4710 -0.73 -243.3 690.8 -12.6 506 4714 0.00 1.05 0.00 0.000 6 0.000 0.047 2509 1550 3860 0 0 0 0 0 0

5035 -0.74 -243.3 734.6 -14.2 522 5036 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1550 3858 0 0 0 0 0 0

5342 -0.75 -243.3 773.6 -12.4 537 5346 0.00 1.08 0.00 0.000 4 0.000 0.056 2504 2242 3854 0 0 0 0 0 0

5422 -0.77 -243.3 783.3 -11.9 540 5426 0.00 1.08 0.00 0.000 6 0.000 0.047 2504 1545 3854 0 0 0 0 0 0

5745 -0.78 -243.3 822.9 -12.3 556 5746 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1544 3852 0 0 0 0 0 0

6056 -0.80 -243.3 859.3 -11.4 571 6057 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1544 3849 0 0 0 0 0 0

6364 -0.81 -243.3 893.0 -10.5 586 6368 0.00 1.08 0.00 0.000 4 0.000 0.057 2504 848 3846 0 0 0 0 0 0

6437 -0.83 -243.3 900.5 -9.6 589 6441 0.00 1.08 0.00 0.000 6 0.000 0.049 2499 1542 3845 0 0 0 0 0 0

6767 -0.84 -243.3 931.1 -9.5 605 6768 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1542 3844 0 0 0 0 0 0

7074 -0.85 -243.3 962.6 -10.3 620 7075 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1542 3842 0 0 0 0 0 0

7339 end dive: TARGET_DEPTH_EXCEEDED

state 7339 begin apogee

7347 -0.11 0.0 990.4 10.6 633 7562 0.62 0.00 204.25 1.443 6 0.120 0.000 2697 1823 2883 0 0 0 0 0 0

7563 end apogee: CONTROL_FINISHED_OK

state 7563 begin climb

7567 0.68 243.3 999.5 0.0 643 7795 0.75 0.00 224.57 1.375 6 0.053 0.000 2966 1822 1892 0 0 0 0 0 0

8091 0.63 243.3 931.9 15.2 669 8092 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 1822 1883 0 0 0 0 0 0

8403 0.59 243.3 884.7 14.7 684 8404 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 1823 1882 0 0 0 0 0 0

8710 0.54 243.3 840.0 14.1 699 8712 0.17 0.00 0.00 0.000 6 0.171 0.000 2918 1822 1880 0 0 0 0 0 0

9022 0.58 272.7 804.3 11.7 714 9052 0.00 1.10 26.70 1.291 4 0.000 0.050 2921 1114 1772 0 0 0 0 0 0

9080 0.61 301.6 796.8 11.7 716 9112 0.00 1.12 28.45 1.271 6 0.000 0.049 2921 1817 1654 0 0 0 0 0 0

9436 0.61 301.6 751.1 13.1 734 9438 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 1817 1649 0 0 0 0 0 0

9744 0.62 301.6 709.6 13.6 749 9745 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 1817 1647 0 0 0 0 0 0

10053 0.66 325.6 671.7 11.9 764 10080 0.10 1.15 22.30 1.203 4 0.101 0.057 2975 2528 1555 0 0 0 0 0 0

10160 0.64 325.6 654.8 15.7 769 10164 0.00 1.12 0.00 0.000 6 0.000 0.047 2978 1814 1554 0 0 0 0 0 0

10494 0.60 325.6 599.1 16.6 785 10498 0.15 1.08 0.00 0.000 4 0.173 0.050 2942 1119 1552 0 0 0 0 0 0

10530 0.60 325.6 594.3 14.1 788 10533 0.00 1.10 0.00 0.000 6 0.000 0.044 2940 1837 1551 0 0 0 0 0 0

10861 0.60 325.6 550.7 13.9 819 10864 0.00 1.10 0.00 0.000 4 0.000 0.047 2943 1118 1551 0 0 0 0 0 0

10935 0.61 325.6 539.7 14.9 825 10943 0.00 1.08 0.00 0.000 6 0.000 0.044 2943 1823 1550 0 0 0 0 0 0

11260 0.61 325.6 492.6 13.5 856 11261 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 1823 1550 0 0 0 0 0 0

11583 0.63 325.6 449.0 12.9 886 11589 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 1826 1550 0 0 0 0 0 0

11913 0.65 325.6 404.0 13.7 917 11916 0.00 1.08 0.00 0.000 4 0.000 0.047 2953 1115 1549 0 0 0 0 0 0

12019 0.68 325.6 389.0 13.1 926 12026 0.00 1.05 0.00 0.000 6 0.000 0.041 2957 1816 1549 0 0 0 0 0 0

12347 0.73 354.5 347.7 11.7 957 12375 0.00 0.00 26.00 0.952 6 0.000 0.000 2957 1816 1437 0 0 0 0 0 0

12694 0.90 460.4 312.5 9.0 990 12799 0.22 1.12 90.30 0.922 4 0.059 0.044 3072 1114 1005 0 0 0 0 0 0

12878 0.84 460.4 273.2 22.3 1006 12883 0.15 1.08 0.00 0.000 6 0.144 0.040 3024 1821 1003 0 0 0 0 0 0

13205 0.83 460.4 213.8 17.7 1055 13212 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 1822 1001 0 0 0 0 0 0

13531 0.83 460.4 158.0 16.6 1116 13539 0.00 1.08 0.00 0.000 4 0.000 0.044 3028 1110 1001 0 0 0 0 0 0

13584 0.84 460.4 149.8 15.1 1125 13593 0.00 1.05 0.00 0.000 6 0.000 0.037 3027 1817 1001 0 0 0 0 0 0

13915 0.86 460.4 100.7 15.4 1186 13923 0.00 1.05 0.00 0.000 4 0.000 0.042 3030 1113 1001 0 0 0 0 0 0

14003 0.92 470.9 89.2 12.3 1201 14020 0.00 1.05 9.82 0.629 6 0.000 0.036 3030 1831 962 0 0 0 0 0 0

14346 1.09 554.4 55.5 9.8 1263 14422 0.17 1.15 68.82 0.679 4 0.063 0.042 3143 1106 622 0 0 0 0 0 0

14597 1.06 554.4 6.4 20.2 1305 14606 0.15 1.05 0.00 0.000 6 0.133 0.036 3093 1816 616 0 0 0 0 0 0

14612 end climb: SURFACE_DEPTH_REACHED

state 14612 begin surface coast

14626 end surface coast: CONTROL_FINISHED_OK

state 14626 begin surface

ID	166	HD_B	0.010078	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	30
DIVE	239	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	20	ALTIM_PING_DEPTH	0
D_FLARE	5	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1550	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1820	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	20	ALTIM_PULSE	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	3	SM_CC	450	ROLL_TIMEOUT	15	XPDR_VALID	4
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	55	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	49	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	260	UPLOAD_DIVES_MAX	-1	C_VBD	2884	DEVICE3	35
T_MISSION	290	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	-24699.6	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	250	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	45	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	170911,022737,2113.878,12339.061,41,1.2,41,-2.7	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170911,023414,2113.852,12339.193,16,1.5,16,-2.7	MHEAD_RNG_PITCHd_Wd	282.2,304875,-17.2,-12.692
SPEED_LIMITS	0.220,0.354	D_GRID	5000

FINISH	1.3,1.021321	_10V_AH	10.0,39.478
SM_CCo	14703,0.00,0.000,0,0,615,556.59	FG_AHR_24Vo	0.000
SM_GC	1.82,7.68,0.00,0.00,0.034,0.000,0.000,154,1532,615,-8.04,-0.51,556.59,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2104.07,12342.05,160911,222227	MEM	330220
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	73483,1309
HUMID	37.16	CAP_FILE_SIZE	143895,0
INTERNAL_PRESSURE	9.39948	CFSIZE	260165632,126472192
TCM_TEMP	25.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	76	CURRENT	0.281, 95.9,1
_24V_AH	22.8,56.511	GPS	170911,064101,2114.374,12338.856,42,1.1,42,-2.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	224	104.35	SBE_CT	893	24	488.89
Roll_motor	37	62	53.46	AA3830	1340	33	1008.33
VBD_pump_during_apogee	701	1442	23067.23	WL_BB2F	1349	105	3229.62
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.46	nil	0	0	0.00
Iridium_during_connect	39	160	143.64	nil	0	0	0.00
Iridium_during_xfer	169	223	863.41	nil	0	0	0.00
Transponder_ping	19	420	181.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.61
TT8	3201	19	633.97
LPSleep	7711	2	168.88
TT8_Active	734	19	145.50
TT8_Sampling	3034	39	1207.71
TT8_CF8	402	45	184.26
TT8_Kalman	0	0	0.00
Analog_circuits	1931	12	231.74
GPS_charging	0	0	0.00
Compass	2799	15	419.97
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
16	-0.68	-243.3	0.0	0.0	0	130	0.00	0.00	-111.03	0.000	2	0.000	0.000	149	1533	3159	0	0	0	0	0	0
133	-0.68	-243.3	6.3	-11.1	15	164	9.38	0.00	-12.73	0.000	6	0.225	0.000	2514	1530	3880	0	0	0	0	0	0
482	-0.55	-243.3	134.3	-30.1	79	490	0.17	0.00	0.00	0.000	6	0.179	0.000	2559	1530	3883	0	0	0	0	0	0
810	-0.52	-243.3	202.1	-16.6	140	818	0.00	1.05	0.00	0.000	4	0.000	0.043	2559	2239	3884	0	0	0	0	0	0
907	-0.51	-243.3	217.2	-15.3	157	917	0.10	1.02	0.00	0.000	6	0.132	0.040	2578	1554	3884	0	0	0	0	0	0
1242	-0.53	-243.3	255.8	-10.1	214	1246	0.00	1.02	0.00	0.000	4	0.000	0.044	2576	2239	3883	0	0	0	0	0	0
1370	-0.58	-243.3	268.1	-9.2	225	1377	0.00	1.05	0.00	0.000	6	0.000	0.041	2587	1542	3883	0	0	0	0	0	0
1695	-0.61	-243.3	306.2	-11.2	256	1700	0.12	1.08	0.00	0.000	4	0.084	0.047	2508	2240	3882	0	0	0	0	0	0
1797	-0.57	-243.3	324.1	-18.2	265	1802	0.15	1.05	0.00	0.000	6	0.134	0.043	2557	1546	3881	0	0	0	0	0	0
2128	-0.57	-243.3	371.6	-13.2	296	2129	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	1546	3880	0	0	0	0	0	0
2451	-0.58	-243.3	413.5	-12.5	326	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	1546	3878	0	0	0	0	0	0
2779	-0.61	-243.3	453.5	-11.0	357	2780	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	1546	3877	0	0	0	0	0	0
3099	-0.64	-243.3	485.7	-9.4	387	3103	0.00	1.08	0.00	0.000	4	0.000	0.049	2555	2243	3874	0	0	0	0	0	0
3287	-0.69	-243.3	502.2	-8.2	403	3293	0.00	1.05	0.00	0.000	6	0.000	0.044	2555	1556	3873	0	0	0	0	0	0
3613	-0.73	-243.3	532.7	-9.8	434	3615	0.12	0.00	0.00	0.000	6	0.083	0.000	2483	1556	3870	0	0	0	0	0	0
3930	-0.70	-243.3	585.2	-16.6	464	3932	0.12	0.00	0.00	0.000	6	0.164	0.000	2517	1556	3868	0	0	0	0	0	0
4253	-0.70	-243.3	627.8	-13.7	485	4256	0.00	1.08	0.00	0.000	4	0.000	0.050	2517	849	3865	0	0	0	0	0	0
4333	-0.71	-243.3	639.1	-14.3	488	4337	0.00	1.05	0.00	0.000	6	0.000	0.044	2514	1540	3864	0	0	0	0	0	0
4654	-0.71	-243.3	683.4	-13.7	504	4658	0.00	1.05	0.00	0.000	4	0.000	0.054	2509	2235	3861	0	0	0	0	0	0
4710	-0.73	-243.3	690.8	-12.6	506	4714	0.00	1.05	0.00	0.000	6	0.000	0.047	2509	1550	3860	0	0	0	0	0	0
5035	-0.74	-243.3	734.6	-14.2	522	5036	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	1550	3858	0	0	0	0	0	0
5342	-0.75	-243.3	773.6	-12.4	537	5346	0.00	1.08	0.00	0.000	4	0.000	0.056	2504	2242	3854	0	0	0	0	0	0
5422	-0.77	-243.3	783.3	-11.9	540	5426	0.00	1.08	0.00	0.000	6	0.000	0.047	2504	1545	3854	0	0	0	0	0	0
5745	-0.78	-243.3	822.9	-12.3	556	5746	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	1544	3852	0	0	0	0	0	0
6056	-0.80	-243.3	859.3	-11.4	571	6057	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	1544	3849	0	0	0	0	0	0
6364	-0.81	-243.3	893.0	-10.5	586	6368	0.00	1.08	0.00	0.000	4	0.000	0.057	2504	848	3846	0	0	0	0	0	0
6437	-0.83	-243.3	900.5	-9.6	589	6441	0.00	1.08	0.00	0.000	6	0.000	0.049	2499	1542	3845	0	0	0	0	0	0
6767	-0.84	-243.3	931.1	-9.5	605	6768	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1542	3844	0	0	0	0	0	0
7074	-0.85	-243.3	962.6	-10.3	620	7075	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1542	3842	0	0	0	0	0	0
7339	end dive: TARGET_DEPTH_EXCEEDED
state	7339	begin apogee
7347	-0.11	0.0	990.4	10.6	633	7562	0.62	0.00	204.25	1.443	6	0.120	0.000	2697	1823	2883	0	0	0	0	0	0
7563	end apogee: CONTROL_FINISHED_OK
state	7563	begin climb
7567	0.68	243.3	999.5	0.0	643	7795	0.75	0.00	224.57	1.375	6	0.053	0.000	2966	1822	1892	0	0	0	0	0	0
8091	0.63	243.3	931.9	15.2	669	8092	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	1822	1883	0	0	0	0	0	0
8403	0.59	243.3	884.7	14.7	684	8404	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	1823	1882	0	0	0	0	0	0
8710	0.54	243.3	840.0	14.1	699	8712	0.17	0.00	0.00	0.000	6	0.171	0.000	2918	1822	1880	0	0	0	0	0	0
9022	0.58	272.7	804.3	11.7	714	9052	0.00	1.10	26.70	1.291	4	0.000	0.050	2921	1114	1772	0	0	0	0	0	0
9080	0.61	301.6	796.8	11.7	716	9112	0.00	1.12	28.45	1.271	6	0.000	0.049	2921	1817	1654	0	0	0	0	0	0
9436	0.61	301.6	751.1	13.1	734	9438	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	1817	1649	0	0	0	0	0	0
9744	0.62	301.6	709.6	13.6	749	9745	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	1817	1647	0	0	0	0	0	0
10053	0.66	325.6	671.7	11.9	764	10080	0.10	1.15	22.30	1.203	4	0.101	0.057	2975	2528	1555	0	0	0	0	0	0
10160	0.64	325.6	654.8	15.7	769	10164	0.00	1.12	0.00	0.000	6	0.000	0.047	2978	1814	1554	0	0	0	0	0	0
10494	0.60	325.6	599.1	16.6	785	10498	0.15	1.08	0.00	0.000	4	0.173	0.050	2942	1119	1552	0	0	0	0	0	0
10530	0.60	325.6	594.3	14.1	788	10533	0.00	1.10	0.00	0.000	6	0.000	0.044	2940	1837	1551	0	0	0	0	0	0
10861	0.60	325.6	550.7	13.9	819	10864	0.00	1.10	0.00	0.000	4	0.000	0.047	2943	1118	1551	0	0	0	0	0	0
10935	0.61	325.6	539.7	14.9	825	10943	0.00	1.08	0.00	0.000	6	0.000	0.044	2943	1823	1550	0	0	0	0	0	0
11260	0.61	325.6	492.6	13.5	856	11261	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	1823	1550	0	0	0	0	0	0
11583	0.63	325.6	449.0	12.9	886	11589	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	1826	1550	0	0	0	0	0	0
11913	0.65	325.6	404.0	13.7	917	11916	0.00	1.08	0.00	0.000	4	0.000	0.047	2953	1115	1549	0	0	0	0	0	0
12019	0.68	325.6	389.0	13.1	926	12026	0.00	1.05	0.00	0.000	6	0.000	0.041	2957	1816	1549	0	0	0	0	0	0
12347	0.73	354.5	347.7	11.7	957	12375	0.00	0.00	26.00	0.952	6	0.000	0.000	2957	1816	1437	0	0	0	0	0	0
12694	0.90	460.4	312.5	9.0	990	12799	0.22	1.12	90.30	0.922	4	0.059	0.044	3072	1114	1005	0	0	0	0	0	0
12878	0.84	460.4	273.2	22.3	1006	12883	0.15	1.08	0.00	0.000	6	0.144	0.040	3024	1821	1003	0	0	0	0	0	0
13205	0.83	460.4	213.8	17.7	1055	13212	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	1822	1001	0	0	0	0	0	0
13531	0.83	460.4	158.0	16.6	1116	13539	0.00	1.08	0.00	0.000	4	0.000	0.044	3028	1110	1001	0	0	0	0	0	0
13584	0.84	460.4	149.8	15.1	1125	13593	0.00	1.05	0.00	0.000	6	0.000	0.037	3027	1817	1001	0	0	0	0	0	0
13915	0.86	460.4	100.7	15.4	1186	13923	0.00	1.05	0.00	0.000	4	0.000	0.042	3030	1113	1001	0	0	0	0	0	0
14003	0.92	470.9	89.2	12.3	1201	14020	0.00	1.05	9.82	0.629	6	0.000	0.036	3030	1831	962	0	0	0	0	0	0
14346	1.09	554.4	55.5	9.8	1263	14422	0.17	1.15	68.82	0.679	4	0.063	0.042	3143	1106	622	0	0	0	0	0	0
14597	1.06	554.4	6.4	20.2	1305	14606	0.15	1.05	0.00	0.000	6	0.133	0.036	3093	1816	616	0	0	0	0	0	0
14612	end climb: SURFACE_DEPTH_REACHED
state	14612	begin surface coast
14626	end surface coast: CONTROL_FINISHED_OK
state	14626	begin surface