Glider dive log

OKMC Nov11 * SG168 * Dive index * Mission links * Dive 59 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 168 HD_B 0.0099999998 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 59 HEADING -1 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3729 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1875 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 100 SM_CC 400 ROLL_TIMEOUT 15 XPDR_VALID 4

T_BOOST 4 N_FILEKB 8 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 48 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 3 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 415 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

T_DIVE 300 UPLOAD_DIVES_MAX -1 C_VBD 2954 DEVICE3 35

T_MISSION 320 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 4 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -6 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -5648.3203 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -8 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 210 PITCH_MIN 143 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2250 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042821765

SPEED_FACTOR 1 PITCH_DBAND 0.050000001 PRESSURE_YINT -64.650215 SEABIRD_T_H 0.00061988086

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.2270933e-05

MASS 51744 P_OVSHOOT 0.029999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2936731e-06

NAV_MODE 1 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8276911

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1035888

KALMAN_USE 13 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0012978988

HD_A 0.003 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0001838774

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 110 D_OFFGRID 1000 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0.0049999999 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 160 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 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 3945 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 143 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.000115925 T_BOOST 4

CALL_TRIES 5 HD_A 0.003 PRESSURE_YINT -64.650215 T_DIVE 300

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 P_OVSHOOT 0.029999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -5648.3203

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 320

COMPASS_DEVICE 33 ID 168 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 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2250 KALMAN_USE 13 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1875 LOGGERDEVICE1 -1 ROLL_AD_RATE 400 T_WATCHDOG 10

C_ROLL_DIVE 2025 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2954 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3729 USE_BATHY -6

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51744 ROLL_MIN 160 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 210 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 9.5 R_PORT_OVSHOOT 27 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 48 VBD_MAX 3960

DEVICE5 -1 MISSION 6 SEABIRD_C_G -9.8276911 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1035888 VBD_MIN 415

DIVE 59 NAV_MODE 1 SEABIRD_C_I -0.0012978988 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1020 NOCOMM_ACTION 163 SEABIRD_C_J 0.0001838774 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0042821765 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061988086 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.2270933e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 3 SEABIRD_T_J 2.2936731e-06 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 231111,073937,2026.481,12349.691,28,1.1,28,-2.6 TGT_NAME S2

_CALLS 1 TGT_LATLONG 2015.000,12420.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.198,-0.046

_SM_DEPTHo 3.56 KALMAN_X 8400417.0,0.0,0.0,5359248.0,-1919.0

_SM_ANGLEo -66.2 KALMAN_Y 1548118.6,0.0,0.0,723257.1,203.9

GPS2 231111,074608,2026.454,12349.668,12,1.6,12,-2.6 MHEAD_RNG_PITCHd_Wd 105.6,56812,-25.6,-11.000

SPEED_LIMITS 0.191,0.311 D_GRID 5528

Post-dive calculations and measurements:

FINISH 3.0,1.022050 _10V_AH 10.3,12.253

SM_CCo 11089,24.17,0.126,0,0,1322,400.08 FG_AHR_24Vo 0.000

SM_GC 3.53,5.95,0.20,24.17,0.024,0.061,0.126,103,2041,1322,-6.55,-1.02,400.08,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2017.96,12345.87,231111,020257 MEM 329820

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 76904,1130

HUMID 40.43 CAP_FILE_SIZE 133539,0

INTERNAL_PRESSURE 9.53162 CFSIZE 260165632,215924736

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 7 GPS 231111,105307,2026.223,12350.403,41,1.4,42,-2.6

_24V_AH 23.7,14.084

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 218 81.67 SBE_CT 772 24 439.18

Roll_motor 113 61 164.30 AA4330 2399 33 1876.57

VBD_pump_during_apogee 502 1296 15441.66 WL_BB2F 1396 105 3474.56

VBD_pump_during_surface 24 126 72.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.67 nil 0 0 0.00

Iridium_during_connect 27 160 104.15 nil 0 0 0.00

Iridium_during_xfer 202 223 1069.89 nil 0 0 0.00

Transponder_ping 1 420 17.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.97

TT8 2664 19 543.30

LPSleep 4867 2 109.79

TT8_Active 616 19 125.76

TT8_Sampling 3035 39 1244.57

TT8_CF8 301 45 142.40

TT8_Kalman 0 81 0.32

Analog_circuits 1808 12 223.49

GPS_charging 0 0 0.00

Compass 2725 15 421.16

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 pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.79 -82.5 0.0 0.0 0 27 0.00 0.00 -7.80 0.000 2 0.000 0.000 100 2021 648 0 0 0 0 0 0 28.83 28.83 28.83

30 -0.94 -204.4 3.6 0.0 1 165 6.35 2.22 -116.75 0.000 4 0.185 0.055 1942 605 3789 0 0 0 0 0 0 25.72 26.05 26.36

192 -0.86 -204.4 21.6 -49.8 24 200 0.12 2.15 0.00 0.000 6 0.161 0.035 1969 2005 3789 0 0 0 0 0 0 25.87 26.09 28.83

508 -0.82 -204.4 151.6 -35.9 85 516 0.08 2.22 0.00 0.000 4 0.215 0.040 1976 3438 3788 0 0 0 0 0 0 26.20 26.22 28.83

564 -0.82 -204.4 170.0 -27.1 95 574 0.00 2.20 0.00 0.000 6 0.000 0.037 1976 2015 3788 0 0 0 0 0 0 28.83 26.25 28.83

888 -0.79 -204.4 264.4 -27.2 151 897 0.08 2.10 0.00 0.000 4 0.207 0.044 1992 621 3788 0 0 0 0 0 0 26.30 26.30 28.83

933 -0.77 -204.4 276.2 -27.0 155 942 0.05 2.10 0.00 0.000 6 0.144 0.037 2002 2023 3788 0 0 0 0 0 0 26.20 26.34 28.83

1241 -0.77 -204.4 342.8 -21.9 186 1249 0.00 2.17 0.00 0.000 4 0.000 0.044 1991 3439 3787 0 0 0 0 0 0 28.83 26.37 28.83

1265 -0.77 -204.4 347.4 -21.1 188 1272 0.00 2.15 0.00 0.000 6 0.000 0.035 1991 2023 3787 0 0 0 0 0 0 28.83 26.39 28.83

1572 -0.77 -204.4 413.6 -21.4 219 1581 0.00 2.12 0.00 0.000 4 0.000 0.045 1991 617 3784 0 0 0 0 0 0 28.83 26.39 28.83

1626 -0.78 -204.4 424.6 -22.0 224 1634 0.08 2.12 0.00 0.000 6 0.180 0.036 2001 2035 3784 0 0 0 0 0 0 26.31 26.42 28.83

1933 -0.80 -204.4 480.8 -17.3 255 1942 0.00 2.15 0.00 0.000 4 0.000 0.044 1991 3442 3783 0 0 0 0 0 0 28.83 26.43 28.83

1968 -0.82 -204.4 486.1 -17.4 258 1975 0.00 2.15 0.00 0.000 6 0.000 0.036 1991 2021 3782 0 0 0 0 0 0 28.83 26.44 28.83

2275 -0.83 -204.4 538.2 -16.6 289 2284 0.00 2.15 0.00 0.000 4 0.000 0.048 1991 610 3778 0 0 0 0 0 0 28.83 26.42 28.83

2310 -0.85 -204.4 543.5 -16.6 292 2316 0.00 2.12 0.00 0.000 6 0.000 0.036 1982 2029 3778 0 0 0 0 0 0 28.83 26.46 28.83

2618 -0.86 -204.4 595.9 -17.2 323 2627 0.00 2.15 0.00 0.000 4 0.000 0.045 1972 3432 3776 0 0 0 0 0 0 28.83 26.45 28.83

2663 -0.88 -204.4 603.0 -16.7 327 2667 0.00 2.15 0.00 0.000 6 0.000 0.037 1972 2024 3776 0 0 0 0 0 0 28.83 26.46 28.83

2975 -0.89 -204.4 657.4 -16.9 343 2976 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2023 3772 0 0 0 0 0 0 28.83 28.83 28.83

3275 -0.91 -204.4 707.9 -16.9 358 3281 0.00 2.15 0.00 0.000 4 0.000 0.048 1972 621 3769 0 0 0 0 0 0 28.83 26.44 28.83

3338 -0.92 -204.4 717.9 -16.8 361 3342 0.00 2.12 0.00 0.000 6 0.000 0.037 1962 2026 3767 0 0 0 0 0 0 28.83 26.47 28.83

3650 -0.93 -204.4 774.5 -18.2 377 3654 0.00 2.17 0.00 0.000 4 0.000 0.047 1953 3440 3764 0 0 0 0 0 0 28.83 26.46 28.83

3685 -0.94 -204.4 778.7 -18.5 378 3692 0.00 2.17 0.00 0.000 6 0.000 0.037 1953 2018 3763 0 0 0 0 0 0 28.83 26.46 28.83

3992 -0.95 -204.4 839.8 -19.8 394 3998 0.00 2.17 0.00 0.000 4 0.000 0.051 1952 616 3760 0 0 0 0 0 0 28.83 26.43 28.83

4053 -0.96 -204.4 851.9 -20.2 397 4058 0.00 2.10 0.00 0.000 6 0.000 0.038 1943 2016 3760 0 0 0 0 0 0 28.83 26.48 28.83

4373 -0.96 -204.4 918.3 -20.9 413 4374 0.00 0.00 0.00 0.000 6 0.000 0.000 1943 2016 3756 0 0 0 0 0 0 28.83 28.83 28.83

4672 -0.96 -204.4 978.3 -19.7 428 4678 0.00 2.20 0.00 0.000 4 0.000 0.044 1932 3445 3754 0 0 0 0 0 0 28.83 26.46 28.83

4700 -0.96 -204.4 982.4 -19.8 429 4704 0.00 2.17 0.00 0.000 6 0.000 0.039 1932 2025 3753 0 0 0 0 0 0 28.83 26.46 28.83

4745 end dive: TARGET_DEPTH_EXCEEDED

state 4745 begin apogee

4750 -0.22 0.0 993.4 -19.9 431 4930 0.73 0.00 164.82 1.297 6 0.119 0.000 2180 1851 2957 0 0 0 0 1 0 26.29 28.83 23.89

4931 end apogee: CONTROL_FINISHED_OK

state 4931 begin climb

4933 0.94 204.4 1004.6 0.0 440 5129 1.00 2.38 177.82 1.267 4 0.043 0.031 2570 3287 2123 0 0 0 0 1 0 24.87 24.49 23.67

5160 0.88 204.4 979.9 24.7 451 5165 0.20 2.28 0.00 0.000 6 0.190 0.037 2535 1886 2127 0 0 0 0 0 0 24.79 24.94 28.83

5468 0.83 204.4 894.7 26.8 466 5474 0.08 2.12 0.00 0.000 4 0.219 0.030 2519 3290 2123 0 0 0 0 0 0 25.69 25.77 28.83

5700 0.79 204.4 837.1 25.5 477 5708 0.12 2.22 0.00 0.000 6 0.193 0.037 2501 1866 2121 0 0 0 0 0 0 25.77 25.96 28.83

6009 0.76 204.4 761.7 22.8 493 6014 0.00 2.17 0.00 0.000 4 0.000 0.031 2501 3305 2119 0 0 0 0 0 0 28.83 26.13 28.83

6082 0.73 204.4 747.4 23.6 496 6090 0.12 2.22 0.00 0.000 6 0.187 0.036 2481 1870 2118 0 0 0 0 0 0 25.95 26.13 28.83

6387 0.72 204.4 678.2 21.0 512 6393 0.00 2.15 0.00 0.000 4 0.000 0.031 2481 3303 2117 0 0 0 0 0 0 28.83 26.22 28.83

6546 0.70 204.4 644.0 21.5 520 6553 0.08 2.22 0.00 0.000 6 0.216 0.036 2476 1865 2116 0 0 0 0 0 0 26.08 26.24 28.83

6858 0.69 204.4 586.8 17.9 539 6862 0.00 2.15 0.00 0.000 4 0.000 0.031 2476 3301 2115 0 0 0 0 0 0 28.83 26.31 28.83

6932 0.67 204.4 573.2 19.0 546 6941 0.05 2.17 0.00 0.000 6 0.181 0.035 2470 1879 2115 0 0 0 0 0 0 26.12 26.31 28.83

7240 0.67 204.4 518.6 18.4 577 7249 0.00 2.12 0.00 0.000 4 0.000 0.031 2469 3306 2114 0 0 0 0 0 0 28.83 26.35 28.83

7453 0.66 204.4 477.0 18.6 598 7458 0.10 2.20 0.00 0.000 6 0.199 0.036 2457 1864 2114 0 0 0 0 0 0 26.16 26.35 28.83

7765 0.66 204.4 428.7 14.1 629 7774 0.00 2.15 0.00 0.000 4 0.000 0.032 2457 3301 2113 0 0 0 0 0 0 28.83 26.39 28.83

7910 0.66 204.4 407.4 14.5 643 7917 0.00 2.17 0.00 0.000 6 0.000 0.035 2467 1875 2113 0 0 0 0 0 0 28.83 26.39 28.83

8218 0.66 204.4 364.6 13.5 674 8226 0.00 2.08 0.00 0.000 4 0.000 0.032 2467 3296 2113 0 0 0 0 0 0 28.83 26.43 28.83

8403 0.66 204.4 336.8 14.7 692 8410 0.08 2.17 0.00 0.000 6 0.211 0.035 2464 1866 2113 0 0 0 0 0 0 26.26 26.42 28.83

8711 0.67 204.4 292.5 13.4 723 8715 0.00 2.15 0.00 0.000 4 0.000 0.032 2463 3301 2113 0 0 0 0 0 0 28.83 26.45 28.83

8825 0.67 204.4 275.6 14.0 734 8829 0.00 2.15 0.00 0.000 6 0.000 0.034 2474 1873 2113 0 0 0 0 0 0 28.83 26.45 28.83

9139 0.67 204.4 230.9 14.8 777 9147 0.00 2.15 0.00 0.000 4 0.000 0.032 2474 3291 2113 0 0 0 0 0 0 28.83 26.47 28.83

9258 0.67 204.4 213.4 15.8 799 9266 0.05 2.17 0.00 0.000 6 0.178 0.035 2468 1877 2113 0 0 0 0 0 0 26.27 26.46 28.83

9574 0.68 204.4 173.0 12.1 860 9582 0.00 2.15 0.00 0.000 4 0.000 0.032 2468 3301 2113 0 0 0 0 0 0 28.83 26.48 28.83

9678 0.69 204.4 158.8 13.3 879 9686 0.00 2.20 0.00 0.000 6 0.000 0.032 2478 1864 2114 0 0 0 0 0 0 28.83 26.48 28.83

10002 0.72 217.7 120.6 9.8 940 10025 0.00 2.17 14.20 0.565 4 0.000 0.031 2478 3292 2059 0 0 0 0 0 0 28.83 26.35 25.76

10054 0.73 217.7 114.7 12.0 948 10062 0.00 2.17 0.00 0.000 6 0.000 0.033 2489 1873 2054 0 0 0 0 0 0 28.83 26.36 28.83

10379 0.82 264.7 82.3 6.8 1009 10437 0.08 2.20 47.40 0.300 4 0.126 0.033 2557 3299 1888 0 0 0 0 0 0 26.48 26.15 25.72

10484 0.89 325.6 74.7 5.6 1025 10564 0.10 2.17 72.95 0.288 6 0.140 0.031 2534 1877 1627 0 0 0 0 0 0 26.01 26.20 25.45

10879 0.95 351.1 37.2 8.7 1096 10910 0.08 2.22 23.62 0.195 4 0.122 0.030 2604 3312 1530 0 0 0 0 0 0 26.21 26.07 25.75

11030 0.94 351.1 5.8 22.4 1123 11039 0.20 2.20 1.65 0.154 6 0.139 0.034 2550 1891 1521 0 0 0 0 0 0 25.92 26.15 25.95

11051 end climb: SURFACE_DEPTH_REACHED

state 11051 begin surface coast

11073 end surface coast: CONTROL_FINISHED_OK

state 11073 begin surface

ID	168	HD_B	0.0099999998	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	59	HEADING	-1	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3729	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1875	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	100	SM_CC	400	ROLL_TIMEOUT	15	XPDR_VALID	4
T_BOOST	4	N_FILEKB	8	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	48	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	3	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	415	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
T_DIVE	300	UPLOAD_DIVES_MAX	-1	C_VBD	2954	DEVICE3	35
T_MISSION	320	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	4	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-6	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-5648.3203	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-8	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	210	PITCH_MIN	143	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2250	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042821765
SPEED_FACTOR	1	PITCH_DBAND	0.050000001	PRESSURE_YINT	-64.650215	SEABIRD_T_H	0.00061988086
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.2270933e-05
MASS	51744	P_OVSHOOT	0.029999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2936731e-06
NAV_MODE	1	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8276911
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1035888
KALMAN_USE	13	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0012978988
HD_A	0.003	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0001838774

GPS1	231111,073937,2026.481,12349.691,28,1.1,28,-2.6	TGT_NAME	S2
_CALLS	1	TGT_LATLONG	2015.000,12420.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.198,-0.046
_SM_DEPTHo	3.56	KALMAN_X	8400417.0,0.0,0.0,5359248.0,-1919.0
_SM_ANGLEo	-66.2	KALMAN_Y	1548118.6,0.0,0.0,723257.1,203.9
GPS2	231111,074608,2026.454,12349.668,12,1.6,12,-2.6	MHEAD_RNG_PITCHd_Wd	105.6,56812,-25.6,-11.000
SPEED_LIMITS	0.191,0.311	D_GRID	5528

FINISH	3.0,1.022050	_10V_AH	10.3,12.253
SM_CCo	11089,24.17,0.126,0,0,1322,400.08	FG_AHR_24Vo	0.000
SM_GC	3.53,5.95,0.20,24.17,0.024,0.061,0.126,103,2041,1322,-6.55,-1.02,400.08,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2017.96,12345.87,231111,020257	MEM	329820
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	76904,1130
HUMID	40.43	CAP_FILE_SIZE	133539,0
INTERNAL_PRESSURE	9.53162	CFSIZE	260165632,215924736
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	7	GPS	231111,105307,2026.223,12350.403,41,1.4,42,-2.6
_24V_AH	23.7,14.084

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	218	81.67	SBE_CT	772	24	439.18
Roll_motor	113	61	164.30	AA4330	2399	33	1876.57
VBD_pump_during_apogee	502	1296	15441.66	WL_BB2F	1396	105	3474.56
VBD_pump_during_surface	24	126	72.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.67	nil	0	0	0.00
Iridium_during_connect	27	160	104.15	nil	0	0	0.00
Iridium_during_xfer	202	223	1069.89	nil	0	0	0.00
Transponder_ping	1	420	17.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.97
TT8	2664	19	543.30
LPSleep	4867	2	109.79
TT8_Active	616	19	125.76
TT8_Sampling	3035	39	1244.57
TT8_CF8	301	45	142.40
TT8_Kalman	0	81	0.32
Analog_circuits	1808	12	223.49
GPS_charging	0	0	0.00
Compass	2725	15	421.16
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	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.79	-82.5	0.0	0.0	0	27	0.00	0.00	-7.80	0.000	2	0.000	0.000	100	2021	648	0	0	0	0	0	0	28.83	28.83	28.83
30	-0.94	-204.4	3.6	0.0	1	165	6.35	2.22	-116.75	0.000	4	0.185	0.055	1942	605	3789	0	0	0	0	0	0	25.72	26.05	26.36
192	-0.86	-204.4	21.6	-49.8	24	200	0.12	2.15	0.00	0.000	6	0.161	0.035	1969	2005	3789	0	0	0	0	0	0	25.87	26.09	28.83
508	-0.82	-204.4	151.6	-35.9	85	516	0.08	2.22	0.00	0.000	4	0.215	0.040	1976	3438	3788	0	0	0	0	0	0	26.20	26.22	28.83
564	-0.82	-204.4	170.0	-27.1	95	574	0.00	2.20	0.00	0.000	6	0.000	0.037	1976	2015	3788	0	0	0	0	0	0	28.83	26.25	28.83
888	-0.79	-204.4	264.4	-27.2	151	897	0.08	2.10	0.00	0.000	4	0.207	0.044	1992	621	3788	0	0	0	0	0	0	26.30	26.30	28.83
933	-0.77	-204.4	276.2	-27.0	155	942	0.05	2.10	0.00	0.000	6	0.144	0.037	2002	2023	3788	0	0	0	0	0	0	26.20	26.34	28.83
1241	-0.77	-204.4	342.8	-21.9	186	1249	0.00	2.17	0.00	0.000	4	0.000	0.044	1991	3439	3787	0	0	0	0	0	0	28.83	26.37	28.83
1265	-0.77	-204.4	347.4	-21.1	188	1272	0.00	2.15	0.00	0.000	6	0.000	0.035	1991	2023	3787	0	0	0	0	0	0	28.83	26.39	28.83
1572	-0.77	-204.4	413.6	-21.4	219	1581	0.00	2.12	0.00	0.000	4	0.000	0.045	1991	617	3784	0	0	0	0	0	0	28.83	26.39	28.83
1626	-0.78	-204.4	424.6	-22.0	224	1634	0.08	2.12	0.00	0.000	6	0.180	0.036	2001	2035	3784	0	0	0	0	0	0	26.31	26.42	28.83
1933	-0.80	-204.4	480.8	-17.3	255	1942	0.00	2.15	0.00	0.000	4	0.000	0.044	1991	3442	3783	0	0	0	0	0	0	28.83	26.43	28.83
1968	-0.82	-204.4	486.1	-17.4	258	1975	0.00	2.15	0.00	0.000	6	0.000	0.036	1991	2021	3782	0	0	0	0	0	0	28.83	26.44	28.83
2275	-0.83	-204.4	538.2	-16.6	289	2284	0.00	2.15	0.00	0.000	4	0.000	0.048	1991	610	3778	0	0	0	0	0	0	28.83	26.42	28.83
2310	-0.85	-204.4	543.5	-16.6	292	2316	0.00	2.12	0.00	0.000	6	0.000	0.036	1982	2029	3778	0	0	0	0	0	0	28.83	26.46	28.83
2618	-0.86	-204.4	595.9	-17.2	323	2627	0.00	2.15	0.00	0.000	4	0.000	0.045	1972	3432	3776	0	0	0	0	0	0	28.83	26.45	28.83
2663	-0.88	-204.4	603.0	-16.7	327	2667	0.00	2.15	0.00	0.000	6	0.000	0.037	1972	2024	3776	0	0	0	0	0	0	28.83	26.46	28.83
2975	-0.89	-204.4	657.4	-16.9	343	2976	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2023	3772	0	0	0	0	0	0	28.83	28.83	28.83
3275	-0.91	-204.4	707.9	-16.9	358	3281	0.00	2.15	0.00	0.000	4	0.000	0.048	1972	621	3769	0	0	0	0	0	0	28.83	26.44	28.83
3338	-0.92	-204.4	717.9	-16.8	361	3342	0.00	2.12	0.00	0.000	6	0.000	0.037	1962	2026	3767	0	0	0	0	0	0	28.83	26.47	28.83
3650	-0.93	-204.4	774.5	-18.2	377	3654	0.00	2.17	0.00	0.000	4	0.000	0.047	1953	3440	3764	0	0	0	0	0	0	28.83	26.46	28.83
3685	-0.94	-204.4	778.7	-18.5	378	3692	0.00	2.17	0.00	0.000	6	0.000	0.037	1953	2018	3763	0	0	0	0	0	0	28.83	26.46	28.83
3992	-0.95	-204.4	839.8	-19.8	394	3998	0.00	2.17	0.00	0.000	4	0.000	0.051	1952	616	3760	0	0	0	0	0	0	28.83	26.43	28.83
4053	-0.96	-204.4	851.9	-20.2	397	4058	0.00	2.10	0.00	0.000	6	0.000	0.038	1943	2016	3760	0	0	0	0	0	0	28.83	26.48	28.83
4373	-0.96	-204.4	918.3	-20.9	413	4374	0.00	0.00	0.00	0.000	6	0.000	0.000	1943	2016	3756	0	0	0	0	0	0	28.83	28.83	28.83
4672	-0.96	-204.4	978.3	-19.7	428	4678	0.00	2.20	0.00	0.000	4	0.000	0.044	1932	3445	3754	0	0	0	0	0	0	28.83	26.46	28.83
4700	-0.96	-204.4	982.4	-19.8	429	4704	0.00	2.17	0.00	0.000	6	0.000	0.039	1932	2025	3753	0	0	0	0	0	0	28.83	26.46	28.83
4745	end dive: TARGET_DEPTH_EXCEEDED
state	4745	begin apogee
4750	-0.22	0.0	993.4	-19.9	431	4930	0.73	0.00	164.82	1.297	6	0.119	0.000	2180	1851	2957	0	0	0	0	1	0	26.29	28.83	23.89
4931	end apogee: CONTROL_FINISHED_OK
state	4931	begin climb
4933	0.94	204.4	1004.6	0.0	440	5129	1.00	2.38	177.82	1.267	4	0.043	0.031	2570	3287	2123	0	0	0	0	1	0	24.87	24.49	23.67
5160	0.88	204.4	979.9	24.7	451	5165	0.20	2.28	0.00	0.000	6	0.190	0.037	2535	1886	2127	0	0	0	0	0	0	24.79	24.94	28.83
5468	0.83	204.4	894.7	26.8	466	5474	0.08	2.12	0.00	0.000	4	0.219	0.030	2519	3290	2123	0	0	0	0	0	0	25.69	25.77	28.83
5700	0.79	204.4	837.1	25.5	477	5708	0.12	2.22	0.00	0.000	6	0.193	0.037	2501	1866	2121	0	0	0	0	0	0	25.77	25.96	28.83
6009	0.76	204.4	761.7	22.8	493	6014	0.00	2.17	0.00	0.000	4	0.000	0.031	2501	3305	2119	0	0	0	0	0	0	28.83	26.13	28.83
6082	0.73	204.4	747.4	23.6	496	6090	0.12	2.22	0.00	0.000	6	0.187	0.036	2481	1870	2118	0	0	0	0	0	0	25.95	26.13	28.83
6387	0.72	204.4	678.2	21.0	512	6393	0.00	2.15	0.00	0.000	4	0.000	0.031	2481	3303	2117	0	0	0	0	0	0	28.83	26.22	28.83
6546	0.70	204.4	644.0	21.5	520	6553	0.08	2.22	0.00	0.000	6	0.216	0.036	2476	1865	2116	0	0	0	0	0	0	26.08	26.24	28.83
6858	0.69	204.4	586.8	17.9	539	6862	0.00	2.15	0.00	0.000	4	0.000	0.031	2476	3301	2115	0	0	0	0	0	0	28.83	26.31	28.83
6932	0.67	204.4	573.2	19.0	546	6941	0.05	2.17	0.00	0.000	6	0.181	0.035	2470	1879	2115	0	0	0	0	0	0	26.12	26.31	28.83
7240	0.67	204.4	518.6	18.4	577	7249	0.00	2.12	0.00	0.000	4	0.000	0.031	2469	3306	2114	0	0	0	0	0	0	28.83	26.35	28.83
7453	0.66	204.4	477.0	18.6	598	7458	0.10	2.20	0.00	0.000	6	0.199	0.036	2457	1864	2114	0	0	0	0	0	0	26.16	26.35	28.83
7765	0.66	204.4	428.7	14.1	629	7774	0.00	2.15	0.00	0.000	4	0.000	0.032	2457	3301	2113	0	0	0	0	0	0	28.83	26.39	28.83
7910	0.66	204.4	407.4	14.5	643	7917	0.00	2.17	0.00	0.000	6	0.000	0.035	2467	1875	2113	0	0	0	0	0	0	28.83	26.39	28.83
8218	0.66	204.4	364.6	13.5	674	8226	0.00	2.08	0.00	0.000	4	0.000	0.032	2467	3296	2113	0	0	0	0	0	0	28.83	26.43	28.83
8403	0.66	204.4	336.8	14.7	692	8410	0.08	2.17	0.00	0.000	6	0.211	0.035	2464	1866	2113	0	0	0	0	0	0	26.26	26.42	28.83
8711	0.67	204.4	292.5	13.4	723	8715	0.00	2.15	0.00	0.000	4	0.000	0.032	2463	3301	2113	0	0	0	0	0	0	28.83	26.45	28.83
8825	0.67	204.4	275.6	14.0	734	8829	0.00	2.15	0.00	0.000	6	0.000	0.034	2474	1873	2113	0	0	0	0	0	0	28.83	26.45	28.83
9139	0.67	204.4	230.9	14.8	777	9147	0.00	2.15	0.00	0.000	4	0.000	0.032	2474	3291	2113	0	0	0	0	0	0	28.83	26.47	28.83
9258	0.67	204.4	213.4	15.8	799	9266	0.05	2.17	0.00	0.000	6	0.178	0.035	2468	1877	2113	0	0	0	0	0	0	26.27	26.46	28.83
9574	0.68	204.4	173.0	12.1	860	9582	0.00	2.15	0.00	0.000	4	0.000	0.032	2468	3301	2113	0	0	0	0	0	0	28.83	26.48	28.83
9678	0.69	204.4	158.8	13.3	879	9686	0.00	2.20	0.00	0.000	6	0.000	0.032	2478	1864	2114	0	0	0	0	0	0	28.83	26.48	28.83
10002	0.72	217.7	120.6	9.8	940	10025	0.00	2.17	14.20	0.565	4	0.000	0.031	2478	3292	2059	0	0	0	0	0	0	28.83	26.35	25.76
10054	0.73	217.7	114.7	12.0	948	10062	0.00	2.17	0.00	0.000	6	0.000	0.033	2489	1873	2054	0	0	0	0	0	0	28.83	26.36	28.83
10379	0.82	264.7	82.3	6.8	1009	10437	0.08	2.20	47.40	0.300	4	0.126	0.033	2557	3299	1888	0	0	0	0	0	0	26.48	26.15	25.72
10484	0.89	325.6	74.7	5.6	1025	10564	0.10	2.17	72.95	0.288	6	0.140	0.031	2534	1877	1627	0	0	0	0	0	0	26.01	26.20	25.45
10879	0.95	351.1	37.2	8.7	1096	10910	0.08	2.22	23.62	0.195	4	0.122	0.030	2604	3312	1530	0	0	0	0	0	0	26.21	26.07	25.75
11030	0.94	351.1	5.8	22.4	1123	11039	0.20	2.20	1.65	0.154	6	0.139	0.034	2550	1891	1521	0	0	0	0	0	0	25.92	26.15	25.95
11051	end climb: SURFACE_DEPTH_REACHED
state	11051	begin surface coast
11073	end surface coast: CONTROL_FINISHED_OK
state	11073	begin surface