Glider dive log

OKMC Jun11 * SG167 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_B 0.010078 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 6 HEADING -1 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 10 ESCAPE_HEADING 0 ROLL_MAX 3764 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 2000 ALTIM_PING_DELTA 10

D_TGT 330 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2050 ALTIM_FREQUENCY 13

D_ABORT 1050 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 4 SM_CC 566.20972 ROLL_TIMEOUT 15 XPDR_VALID 3

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 87 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 69 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 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 490 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

T_DIVE 100 UPLOAD_DIVES_MAX -1 C_VBD 2839 DEVICE3 35

T_MISSION 120 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 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 -56322.184 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 150 PHONE_DEVICE 48

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 -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 200 PITCH_MIN 134 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2865 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043379883

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -16.233358 SEABIRD_T_H 0.00063236553

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_I 2.4503992e-05

MASS 51876 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.6444222e-06

NAV_MODE 2 PITCH_GAIN 34 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8845854

FERRY_MAX 45 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1045586

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0015691385

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00020000842

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 110 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 566.20972

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 0.029999999 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 330 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0031256729 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 34 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 3944 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 134 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 19 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 0.0001158971 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -16.233358 T_DIVE 100

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 0 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 -56322.184

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 120

COMPASS_DEVICE 33 ID 167 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 2865 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2050 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2000 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2839 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3764 USE_BATHY -9

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51876 ROLL_MIN 187 VBD_BLEED_AD_RATE 8

DEVICE2 53 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 8 R_PORT_OVSHOOT 87 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 69 VBD_MAX 3960

DEVICE5 -1 MISSION 8 SEABIRD_C_G -9.8845854 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1045586 VBD_MIN 490

DIVE 6 NAV_MODE 2 SEABIRD_C_I -0.0015691385 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020000842 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 4 N_DIVES 10 SEABIRD_T_G 0.0043379883 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00063236553 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.4503992e-05 XPDR_INHIBIT 90

D_FLARE 5 N_NOCOMM 1 SEABIRD_T_J 2.6444222e-06 XPDR_VALID 3

Pre-dive calculations and measurements:

GPS1 130611,150754,2127.742,12354.902,42,1.0,42,-2.8 TGT_NAME S2

_CALLS 1 TGT_LATLONG 2015.000,12420.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130611,151450,2127.650,12354.926,15,1.2,15,-2.8 MHEAD_RNG_PITCHd_Wd 131.8,141426,-17.0,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 5000

Post-dive calculations and measurements:

FINISH 0.5,1.021957 _10V_AH 10.6,1.900

SM_CCo 5623,125.05,0.520,1,0,529,566.40 FG_AHR_24Vo 0.000

SM_GC 1.21,0.00,0.00,125.05,0.000,0.000,0.520,114,2008,529,-8.57,0.23,566.40,0,0,0,0,1,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2122.58,12354.25,130611,131309 MEM 330496

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 43670,803

HUMID 32.47 CAP_FILE_SIZE 114399,0

INTERNAL_PRESSURE 9.36559 CFSIZE 260165632,141422592

TCM_TEMP 28.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 15 CURRENT 0.310,197.6,1

_24V_AH 25.0,3.128 GPS 130611,165215,2126.022,12355.328,8,2.5,27,-2.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 234 128.16 SBE_CT 532 24 319.45

Roll_motor 84 48 101.63 AA3830 1001 33 826.47

VBD_pump_during_apogee 451 794 8962.26 WL_BB2F 1742 105 4573.40

VBD_pump_during_surface 125 520 1626.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 77.03 nil 0 0 0.00

Iridium_during_connect 45 160 182.28 nil 0 0 0.00

Iridium_during_xfer 206 223 1150.82 nil 0 0 0.00

Transponder_ping 3 420 39.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.57

TT8 1927 19 404.55

LPSleep 755 2 17.54

TT8_Active 740 19 155.41

TT8_Sampling 2188 39 923.08

TT8_CF8 555 45 269.85

TT8_Kalman 0 0 0.00

Analog_circuits 1631 12 207.52

GPS_charging 0 0 0.00

Compass 2169 15 344.97

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

17 -0.74 -194.6 0.0 0.0 0 121 0.00 0.00 -101.62 0.000 2 0.000 0.000 113 2066 3428 0 0 0 0 0 0

125 -0.74 -194.6 6.5 -12.5 13 149 9.73 1.98 -3.08 0.000 4 0.234 0.048 2608 3392 3636 0 0 0 0 0 0

189 -0.30 -194.6 42.5 -36.5 23 199 0.47 1.98 0.00 0.000 6 0.140 0.018 2762 1981 3637 0 0 0 0 0 0

268 -0.52 -194.6 52.1 -8.3 36 278 0.17 1.95 0.00 0.000 4 0.070 0.029 2676 648 3637 0 0 0 0 0 0

310 -0.56 -194.6 57.0 -11.8 42 319 0.00 1.95 0.00 0.000 6 0.000 0.023 2670 1991 3637 0 0 0 0 0 0

386 -0.48 -194.6 68.6 -16.6 55 395 0.15 0.00 0.00 0.000 6 0.161 0.000 2712 1991 3637 0 0 0 0 0 0

463 -0.56 -194.6 78.5 -11.3 68 471 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 1991 3638 0 0 0 0 0 0

538 -0.63 -194.6 87.2 -11.5 81 547 0.15 1.98 0.00 0.000 4 0.079 0.028 2642 649 3637 0 0 0 0 0 0

579 -0.56 -194.6 92.8 -14.8 87 588 0.12 1.98 0.00 0.000 6 0.135 0.025 2682 2008 3637 0 0 0 0 0 0

657 -0.56 -194.6 104.8 -14.3 100 664 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2008 3637 0 0 0 0 0 0

728 -0.56 -194.6 114.7 -13.9 113 736 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2008 3637 0 0 0 0 0 0

804 -0.60 -194.6 123.9 -12.4 126 811 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2008 3637 0 0 0 0 0 0

877 -0.64 -194.6 132.6 -12.4 139 885 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2008 3638 0 0 0 0 0 0

952 -0.69 -194.6 141.4 -11.4 152 959 0.12 0.00 0.00 0.000 6 0.090 0.000 2622 2008 3637 0 0 0 0 0 0

1026 -0.58 -194.6 153.0 -16.7 165 1034 0.17 0.00 0.00 0.000 6 0.152 0.000 2673 2009 3638 0 0 0 0 0 0

1100 -0.63 -194.6 163.1 -12.3 178 1108 0.00 2.03 0.00 0.000 4 0.000 0.036 2669 3384 3637 0 0 0 0 0 0

1141 -0.73 -194.6 167.8 -11.6 184 1150 0.08 1.92 0.00 0.000 6 0.060 0.021 2617 2010 3638 0 0 0 0 0 0

1218 -0.64 -194.6 179.0 -16.5 197 1227 0.15 2.00 0.00 0.000 4 0.162 0.030 2660 633 3637 0 0 0 0 0 0

1251 -0.64 -194.6 184.7 -17.2 202 1259 0.00 1.98 0.00 0.000 6 0.000 0.024 2657 1997 3637 0 0 0 0 0 0

1326 -0.64 -194.6 195.4 -14.0 215 1334 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 1997 3637 0 0 0 0 0 0

1401 -0.67 -194.6 205.5 -13.2 228 1408 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 1997 3638 0 0 0 0 0 0

1476 -0.71 -194.6 215.6 -13.5 241 1484 0.00 2.08 0.00 0.000 4 0.000 0.038 2657 3396 3637 0 0 0 0 0 0

1506 -0.77 -194.6 219.4 -12.9 245 1514 0.08 1.95 0.00 0.000 6 0.063 0.019 2606 2000 3637 0 0 0 0 0 0

1585 -0.68 -194.6 231.5 -16.8 258 1593 0.15 1.98 0.00 0.000 4 0.164 0.030 2648 637 3637 0 0 0 0 0 0

1645 -0.74 -194.6 240.2 -13.0 268 1653 0.00 1.98 0.00 0.000 6 0.000 0.024 2645 2002 3637 0 0 0 0 0 0

1719 -0.74 -194.6 249.7 -12.6 281 1728 0.00 2.00 0.00 0.000 4 0.000 0.029 2645 625 3637 0 0 0 0 0 0

1760 -0.77 -194.6 254.8 -12.9 285 1763 0.00 1.98 0.00 0.000 6 0.000 0.024 2643 2005 3637 0 0 0 0 0 0

2092 -0.84 -194.6 291.2 -9.5 316 2097 0.15 2.00 0.00 0.000 4 0.085 0.030 2573 626 3636 0 0 0 0 0 0

2169 -0.74 -194.6 302.2 -15.3 322 2177 0.20 1.98 0.00 0.000 6 0.152 0.025 2629 2009 3636 0 0 0 0 0 0

2440 end dive: TARGET_DEPTH_EXCEEDED

state 2440 begin apogee

2446 -0.15 0.0 330.1 9.0 348 2595 0.52 0.00 138.85 0.795 6 0.116 0.000 2815 2009 2837 0 0 0 0 0 0

2596 end apogee: CONTROL_FINISHED_OK

state 2596 begin climb

2598 0.74 194.6 336.9 0.0 361 2752 0.75 2.03 144.02 0.781 4 0.057 0.031 3115 681 2044 0 0 0 0 0 0

2913 0.53 194.6 305.9 14.3 388 2921 0.20 2.03 0.00 0.000 6 0.140 0.024 3034 2061 2040 0 0 0 0 0 0

3243 0.53 224.4 271.2 9.9 419 3271 0.00 2.08 22.83 0.724 4 0.000 0.034 3036 691 1924 0 0 0 0 0 0

3434 0.57 261.4 252.5 9.6 436 3471 0.00 1.98 29.12 0.722 6 0.000 0.024 3036 2039 1772 0 0 0 0 0 0

3792 0.60 284.3 217.6 10.1 499 3816 0.00 2.08 18.58 0.689 4 0.000 0.032 3040 676 1678 0 0 0 0 0 0

3846 0.67 292.6 211.9 10.7 507 3863 0.08 2.03 7.60 0.594 6 0.061 0.024 3093 2059 1644 0 0 0 0 0 0

3932 0.58 292.6 200.8 14.1 521 3940 0.15 2.08 0.00 0.000 4 0.148 0.037 3049 3430 1642 0 0 0 0 0 0

3982 0.58 292.6 193.9 12.1 529 3990 0.00 1.98 0.00 0.000 6 0.000 0.021 3054 2062 1641 0 0 0 0 0 0

4059 0.59 298.9 185.7 10.8 542 4075 0.00 2.08 5.88 0.546 4 0.000 0.032 3063 664 1619 0 0 0 0 0 0

4115 0.62 330.4 180.2 9.8 551 4146 0.00 2.03 25.35 0.677 6 0.000 0.023 3064 2051 1491 0 0 0 0 0 0

4215 0.67 343.1 170.3 10.5 567 4232 0.00 2.12 10.90 0.620 4 0.000 0.037 3064 3438 1439 0 0 0 0 0 0

4287 0.71 343.1 162.2 11.2 579 4296 0.00 2.03 0.00 0.000 6 0.000 0.021 3071 2044 1437 0 0 0 0 0 0

4365 0.75 343.1 153.1 11.7 592 4373 0.10 0.00 0.00 0.000 6 0.105 0.000 3118 2042 1437 0 0 0 0 0 0

4440 0.67 343.1 141.6 16.2 605 4448 0.12 0.00 0.00 0.000 6 0.157 0.000 3083 2042 1437 0 0 0 0 0 0

4514 0.67 343.1 131.1 13.1 618 4522 0.00 2.03 0.00 0.000 4 0.000 0.032 3091 664 1436 0 0 0 0 0 0

4562 0.70 343.1 125.0 13.1 626 4570 0.00 2.03 0.00 0.000 6 0.000 0.021 3091 2059 1437 0 0 0 0 0 0

4635 0.70 343.1 115.6 13.3 639 4643 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2059 1436 0 0 0 0 0 0

4710 0.70 343.1 106.2 11.9 652 4717 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2059 1436 0 0 0 0 0 0

4782 0.70 343.1 97.3 12.3 665 4790 0.00 2.05 0.00 0.000 4 0.000 0.031 3099 668 1436 0 0 0 0 0 0

4823 0.70 343.1 92.7 11.8 671 4832 0.00 2.00 0.00 0.000 6 0.000 0.022 3099 2053 1435 0 0 0 0 0 0

4899 0.70 343.1 83.3 12.5 684 4906 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2054 1436 0 0 0 0 0 0

4971 0.70 343.1 74.5 11.8 697 4979 0.00 2.05 0.00 0.000 4 0.000 0.032 3099 666 1436 0 0 0 0 0 0

5016 0.70 343.1 69.5 11.3 704 5024 0.00 2.00 0.00 0.000 6 0.000 0.023 3099 2048 1436 0 0 0 0 0 0

5089 0.71 346.3 61.3 10.9 717 5096 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2047 1435 0 0 0 0 0 0

5160 0.72 355.9 53.7 10.6 730 5177 0.00 2.08 11.02 0.560 4 0.000 0.032 3101 666 1387 0 0 0 0 0 0

5202 0.72 360.2 49.4 10.8 736 5218 0.00 2.00 4.88 0.444 6 0.000 0.022 3101 2048 1369 0 0 0 0 0 0

5285 0.76 360.2 40.1 11.4 750 5292 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2048 1368 0 0 0 0 0 0

5357 0.79 360.2 31.6 11.8 763 5366 0.00 2.05 0.00 0.000 4 0.000 0.036 3101 3436 1367 0 0 0 0 0 0

5436 0.84 362.3 22.8 10.9 776 5445 0.00 1.98 0.00 0.000 6 0.000 0.021 3103 2053 1367 0 0 0 0 0 0

5513 0.94 401.2 15.2 9.5 789 5552 0.17 2.00 32.00 0.574 4 0.079 0.030 3198 668 1201 0 0 0 0 0 0

5590 end climb: SURFACE_DEPTH_REACHED

state 5590 begin surface coast

5604 end surface coast: CONTROL_FINISHED_OK

state 5604 begin surface

ID	167	HD_B	0.010078	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	6	HEADING	-1	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	10	ESCAPE_HEADING	0	ROLL_MAX	3764	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	2000	ALTIM_PING_DELTA	10
D_TGT	330	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2050	ALTIM_FREQUENCY	13
D_ABORT	1050	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	4	SM_CC	566.20972	ROLL_TIMEOUT	15	XPDR_VALID	3
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	87	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	69	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	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	490	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
T_DIVE	100	UPLOAD_DIVES_MAX	-1	C_VBD	2839	DEVICE3	35
T_MISSION	120	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	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	-56322.184	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	150	PHONE_DEVICE	48
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	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	200	PITCH_MIN	134	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2865	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043379883
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-16.233358	SEABIRD_T_H	0.00063236553
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_I	2.4503992e-05
MASS	51876	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.6444222e-06
NAV_MODE	2	PITCH_GAIN	34	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8845854
FERRY_MAX	45	PITCH_TIMEOUT	19	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1045586
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0015691385
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00020000842

GPS1	130611,150754,2127.742,12354.902,42,1.0,42,-2.8	TGT_NAME	S2
_CALLS	1	TGT_LATLONG	2015.000,12420.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130611,151450,2127.650,12354.926,15,1.2,15,-2.8	MHEAD_RNG_PITCHd_Wd	131.8,141426,-17.0,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	5000

FINISH	0.5,1.021957	_10V_AH	10.6,1.900
SM_CCo	5623,125.05,0.520,1,0,529,566.40	FG_AHR_24Vo	0.000
SM_GC	1.21,0.00,0.00,125.05,0.000,0.000,0.520,114,2008,529,-8.57,0.23,566.40,0,0,0,0,1,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2122.58,12354.25,130611,131309	MEM	330496
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	43670,803
HUMID	32.47	CAP_FILE_SIZE	114399,0
INTERNAL_PRESSURE	9.36559	CFSIZE	260165632,141422592
TCM_TEMP	28.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	15	CURRENT	0.310,197.6,1
_24V_AH	25.0,3.128	GPS	130611,165215,2126.022,12355.328,8,2.5,27,-2.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	234	128.16	SBE_CT	532	24	319.45
Roll_motor	84	48	101.63	AA3830	1001	33	826.47
VBD_pump_during_apogee	451	794	8962.26	WL_BB2F	1742	105	4573.40
VBD_pump_during_surface	125	520	1626.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	77.03	nil	0	0	0.00
Iridium_during_connect	45	160	182.28	nil	0	0	0.00
Iridium_during_xfer	206	223	1150.82	nil	0	0	0.00
Transponder_ping	3	420	39.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.57
TT8	1927	19	404.55
LPSleep	755	2	17.54
TT8_Active	740	19	155.41
TT8_Sampling	2188	39	923.08
TT8_CF8	555	45	269.85
TT8_Kalman	0	0	0.00
Analog_circuits	1631	12	207.52
GPS_charging	0	0	0.00
Compass	2169	15	344.97
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
17	-0.74	-194.6	0.0	0.0	0	121	0.00	0.00	-101.62	0.000	2	0.000	0.000	113	2066	3428	0	0	0	0	0	0
125	-0.74	-194.6	6.5	-12.5	13	149	9.73	1.98	-3.08	0.000	4	0.234	0.048	2608	3392	3636	0	0	0	0	0	0
189	-0.30	-194.6	42.5	-36.5	23	199	0.47	1.98	0.00	0.000	6	0.140	0.018	2762	1981	3637	0	0	0	0	0	0
268	-0.52	-194.6	52.1	-8.3	36	278	0.17	1.95	0.00	0.000	4	0.070	0.029	2676	648	3637	0	0	0	0	0	0
310	-0.56	-194.6	57.0	-11.8	42	319	0.00	1.95	0.00	0.000	6	0.000	0.023	2670	1991	3637	0	0	0	0	0	0
386	-0.48	-194.6	68.6	-16.6	55	395	0.15	0.00	0.00	0.000	6	0.161	0.000	2712	1991	3637	0	0	0	0	0	0
463	-0.56	-194.6	78.5	-11.3	68	471	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	1991	3638	0	0	0	0	0	0
538	-0.63	-194.6	87.2	-11.5	81	547	0.15	1.98	0.00	0.000	4	0.079	0.028	2642	649	3637	0	0	0	0	0	0
579	-0.56	-194.6	92.8	-14.8	87	588	0.12	1.98	0.00	0.000	6	0.135	0.025	2682	2008	3637	0	0	0	0	0	0
657	-0.56	-194.6	104.8	-14.3	100	664	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2008	3637	0	0	0	0	0	0
728	-0.56	-194.6	114.7	-13.9	113	736	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2008	3637	0	0	0	0	0	0
804	-0.60	-194.6	123.9	-12.4	126	811	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2008	3637	0	0	0	0	0	0
877	-0.64	-194.6	132.6	-12.4	139	885	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2008	3638	0	0	0	0	0	0
952	-0.69	-194.6	141.4	-11.4	152	959	0.12	0.00	0.00	0.000	6	0.090	0.000	2622	2008	3637	0	0	0	0	0	0
1026	-0.58	-194.6	153.0	-16.7	165	1034	0.17	0.00	0.00	0.000	6	0.152	0.000	2673	2009	3638	0	0	0	0	0	0
1100	-0.63	-194.6	163.1	-12.3	178	1108	0.00	2.03	0.00	0.000	4	0.000	0.036	2669	3384	3637	0	0	0	0	0	0
1141	-0.73	-194.6	167.8	-11.6	184	1150	0.08	1.92	0.00	0.000	6	0.060	0.021	2617	2010	3638	0	0	0	0	0	0
1218	-0.64	-194.6	179.0	-16.5	197	1227	0.15	2.00	0.00	0.000	4	0.162	0.030	2660	633	3637	0	0	0	0	0	0
1251	-0.64	-194.6	184.7	-17.2	202	1259	0.00	1.98	0.00	0.000	6	0.000	0.024	2657	1997	3637	0	0	0	0	0	0
1326	-0.64	-194.6	195.4	-14.0	215	1334	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	1997	3637	0	0	0	0	0	0
1401	-0.67	-194.6	205.5	-13.2	228	1408	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	1997	3638	0	0	0	0	0	0
1476	-0.71	-194.6	215.6	-13.5	241	1484	0.00	2.08	0.00	0.000	4	0.000	0.038	2657	3396	3637	0	0	0	0	0	0
1506	-0.77	-194.6	219.4	-12.9	245	1514	0.08	1.95	0.00	0.000	6	0.063	0.019	2606	2000	3637	0	0	0	0	0	0
1585	-0.68	-194.6	231.5	-16.8	258	1593	0.15	1.98	0.00	0.000	4	0.164	0.030	2648	637	3637	0	0	0	0	0	0
1645	-0.74	-194.6	240.2	-13.0	268	1653	0.00	1.98	0.00	0.000	6	0.000	0.024	2645	2002	3637	0	0	0	0	0	0
1719	-0.74	-194.6	249.7	-12.6	281	1728	0.00	2.00	0.00	0.000	4	0.000	0.029	2645	625	3637	0	0	0	0	0	0
1760	-0.77	-194.6	254.8	-12.9	285	1763	0.00	1.98	0.00	0.000	6	0.000	0.024	2643	2005	3637	0	0	0	0	0	0
2092	-0.84	-194.6	291.2	-9.5	316	2097	0.15	2.00	0.00	0.000	4	0.085	0.030	2573	626	3636	0	0	0	0	0	0
2169	-0.74	-194.6	302.2	-15.3	322	2177	0.20	1.98	0.00	0.000	6	0.152	0.025	2629	2009	3636	0	0	0	0	0	0
2440	end dive: TARGET_DEPTH_EXCEEDED
state	2440	begin apogee
2446	-0.15	0.0	330.1	9.0	348	2595	0.52	0.00	138.85	0.795	6	0.116	0.000	2815	2009	2837	0	0	0	0	0	0
2596	end apogee: CONTROL_FINISHED_OK
state	2596	begin climb
2598	0.74	194.6	336.9	0.0	361	2752	0.75	2.03	144.02	0.781	4	0.057	0.031	3115	681	2044	0	0	0	0	0	0
2913	0.53	194.6	305.9	14.3	388	2921	0.20	2.03	0.00	0.000	6	0.140	0.024	3034	2061	2040	0	0	0	0	0	0
3243	0.53	224.4	271.2	9.9	419	3271	0.00	2.08	22.83	0.724	4	0.000	0.034	3036	691	1924	0	0	0	0	0	0
3434	0.57	261.4	252.5	9.6	436	3471	0.00	1.98	29.12	0.722	6	0.000	0.024	3036	2039	1772	0	0	0	0	0	0
3792	0.60	284.3	217.6	10.1	499	3816	0.00	2.08	18.58	0.689	4	0.000	0.032	3040	676	1678	0	0	0	0	0	0
3846	0.67	292.6	211.9	10.7	507	3863	0.08	2.03	7.60	0.594	6	0.061	0.024	3093	2059	1644	0	0	0	0	0	0
3932	0.58	292.6	200.8	14.1	521	3940	0.15	2.08	0.00	0.000	4	0.148	0.037	3049	3430	1642	0	0	0	0	0	0
3982	0.58	292.6	193.9	12.1	529	3990	0.00	1.98	0.00	0.000	6	0.000	0.021	3054	2062	1641	0	0	0	0	0	0
4059	0.59	298.9	185.7	10.8	542	4075	0.00	2.08	5.88	0.546	4	0.000	0.032	3063	664	1619	0	0	0	0	0	0
4115	0.62	330.4	180.2	9.8	551	4146	0.00	2.03	25.35	0.677	6	0.000	0.023	3064	2051	1491	0	0	0	0	0	0
4215	0.67	343.1	170.3	10.5	567	4232	0.00	2.12	10.90	0.620	4	0.000	0.037	3064	3438	1439	0	0	0	0	0	0
4287	0.71	343.1	162.2	11.2	579	4296	0.00	2.03	0.00	0.000	6	0.000	0.021	3071	2044	1437	0	0	0	0	0	0
4365	0.75	343.1	153.1	11.7	592	4373	0.10	0.00	0.00	0.000	6	0.105	0.000	3118	2042	1437	0	0	0	0	0	0
4440	0.67	343.1	141.6	16.2	605	4448	0.12	0.00	0.00	0.000	6	0.157	0.000	3083	2042	1437	0	0	0	0	0	0
4514	0.67	343.1	131.1	13.1	618	4522	0.00	2.03	0.00	0.000	4	0.000	0.032	3091	664	1436	0	0	0	0	0	0
4562	0.70	343.1	125.0	13.1	626	4570	0.00	2.03	0.00	0.000	6	0.000	0.021	3091	2059	1437	0	0	0	0	0	0
4635	0.70	343.1	115.6	13.3	639	4643	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2059	1436	0	0	0	0	0	0
4710	0.70	343.1	106.2	11.9	652	4717	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2059	1436	0	0	0	0	0	0
4782	0.70	343.1	97.3	12.3	665	4790	0.00	2.05	0.00	0.000	4	0.000	0.031	3099	668	1436	0	0	0	0	0	0
4823	0.70	343.1	92.7	11.8	671	4832	0.00	2.00	0.00	0.000	6	0.000	0.022	3099	2053	1435	0	0	0	0	0	0
4899	0.70	343.1	83.3	12.5	684	4906	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2054	1436	0	0	0	0	0	0
4971	0.70	343.1	74.5	11.8	697	4979	0.00	2.05	0.00	0.000	4	0.000	0.032	3099	666	1436	0	0	0	0	0	0
5016	0.70	343.1	69.5	11.3	704	5024	0.00	2.00	0.00	0.000	6	0.000	0.023	3099	2048	1436	0	0	0	0	0	0
5089	0.71	346.3	61.3	10.9	717	5096	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2047	1435	0	0	0	0	0	0
5160	0.72	355.9	53.7	10.6	730	5177	0.00	2.08	11.02	0.560	4	0.000	0.032	3101	666	1387	0	0	0	0	0	0
5202	0.72	360.2	49.4	10.8	736	5218	0.00	2.00	4.88	0.444	6	0.000	0.022	3101	2048	1369	0	0	0	0	0	0
5285	0.76	360.2	40.1	11.4	750	5292	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2048	1368	0	0	0	0	0	0
5357	0.79	360.2	31.6	11.8	763	5366	0.00	2.05	0.00	0.000	4	0.000	0.036	3101	3436	1367	0	0	0	0	0	0
5436	0.84	362.3	22.8	10.9	776	5445	0.00	1.98	0.00	0.000	6	0.000	0.021	3103	2053	1367	0	0	0	0	0	0
5513	0.94	401.2	15.2	9.5	789	5552	0.17	2.00	32.00	0.574	4	0.079	0.030	3198	668	1201	0	0	0	0	0	0
5590	end climb: SURFACE_DEPTH_REACHED
state	5590	begin surface coast
5604	end surface coast: CONTROL_FINISHED_OK
state	5604	begin surface