Glider dive log

OKMC Nov11 * SG168 * Dive index * Mission links * Dive 80 * 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 80 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 1975 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 40 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 44 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 -5674.7344 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 -5674.7344

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 1975 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 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 44 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 80 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 271111,072655,2019.040,12415.323,40,1.3,40,-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 0.061,-0.182

_SM_DEPTHo 3.94 KALMAN_X 8380220.0,0.0,0.0,5426880.0,-1983.0

_SM_ANGLEo -65.8 KALMAN_Y 1610344.2,0.0,0.0,647479.9,4041.1

GPS2 271111,073319,2019.131,12415.267,12,1.3,29,-2.6 MHEAD_RNG_PITCHd_Wd 164.1,11233,-27.2,-11.000

SPEED_LIMITS 0.191,0.311 D_GRID 5508

Post-dive calculations and measurements:

FREEZE 3.15,27.435,-0.879,0,1,0 _10V_AH 10.3,15.210

SM_CCo 12023,105.43,0.118,0,0,414,622.82 FG_AHR_24Vo 0.000

SM_GC 3.88,6.20,2.10,0.00,0.021,0.041,0.000,102,2049,423,-6.55,1.70,620.61,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2013.37,12419.03,271111,030336 MEM 329852

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 83712,1201

HUMID 37.99 CAP_FILE_SIZE 140995,0

INTERNAL_PRESSURE 9.50232 CFSIZE 260165632,213966848

TCM_TEMP 26.30 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 9 GPS 271111,110101,2018.509,12416.686,37,1.0,38,-2.6

_24V_AH 23.9,17.684

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 223 85.55 SBE_CT 818 24 469.41

Roll_motor 114 143 393.10 AA4330 1841 33 1452.50

VBD_pump_during_apogee 460 1275 14027.77 WL_BB2F 786 105 1974.05

VBD_pump_during_surface 105 117 296.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.72 nil 0 0 0.00

Iridium_during_connect 41 160 158.05 nil 0 0 0.00

Iridium_during_xfer 178 223 953.09 nil 0 0 0.00

Transponder_ping 2 420 22.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.68

TT8 2827 19 576.60

LPSleep 6081 2 137.19

TT8_Active 655 19 133.75

TT8_Sampling 2866 39 1175.09

TT8_CF8 301 45 142.29

TT8_Kalman 0 81 0.32

Analog_circuits 1870 12 231.20

GPS_charging 0 0 0.00

Compass 2528 15 390.64

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 14 begin dive

17 -0.83 -73.4 0.0 0.0 0 27 0.00 0.00 -8.30 0.000 2 0.000 0.000 101 1977 690 0 0 0 0 0 0 28.83 28.83 28.83

30 -0.96 -182.8 4.0 0.0 1 144 6.25 2.10 -99.22 0.000 4 0.181 0.054 1934 609 3701 0 0 0 0 0 0 25.73 26.06 26.41

235 -0.88 -182.8 54.4 -50.1 35 242 0.17 2.12 0.00 0.000 6 0.182 0.034 1968 2020 3701 0 0 0 0 0 0 25.89 26.16 28.83

567 -0.85 -182.8 177.1 -31.5 96 575 0.00 2.17 0.00 0.000 4 0.000 0.040 1959 3426 3701 0 0 0 0 0 0 28.83 26.27 28.83

610 -0.83 -182.8 190.6 -29.3 103 617 0.10 2.15 0.00 0.000 6 0.163 0.038 1984 2023 3701 0 0 0 0 0 0 26.15 26.29 28.83

927 -0.82 -182.8 270.2 -23.7 137 936 0.00 2.12 0.00 0.000 4 0.000 0.044 1984 616 3701 0 0 0 0 0 0 28.83 26.34 28.83

991 -0.82 -182.8 285.0 -22.8 143 999 0.00 2.08 0.00 0.000 6 0.000 0.034 1974 2028 3701 0 0 0 0 0 0 28.83 26.38 28.83

1299 -0.82 -182.8 356.7 -23.8 174 1308 0.00 2.15 0.00 0.000 4 0.000 0.042 1964 3438 3700 0 0 0 0 0 0 28.83 26.39 28.83

1344 -0.83 -182.8 365.6 -21.2 178 1352 0.10 2.15 0.00 0.000 6 0.154 0.036 1991 2014 3699 0 0 0 0 0 0 26.28 26.41 28.83

1651 -0.84 -182.8 428.2 -19.4 209 1655 0.00 2.12 0.00 0.000 4 0.000 0.047 1991 620 3698 0 0 0 0 0 0 28.83 26.39 28.83

1676 -0.85 -182.8 432.7 -20.3 211 1682 0.00 2.10 0.00 0.000 6 0.000 0.036 1981 2025 3697 0 0 0 0 0 0 28.83 26.44 28.83

1985 -0.87 -182.8 492.3 -17.6 242 1993 0.00 2.12 0.00 0.000 4 0.000 0.044 1971 3436 3694 0 0 0 0 0 0 28.83 26.43 28.83

2048 -0.89 -182.8 502.4 -15.3 248 2055 0.00 2.15 0.00 0.000 6 0.000 0.035 1971 2018 3694 0 0 0 0 0 0 28.83 26.45 28.83

2356 -0.90 -182.8 554.0 -16.7 279 2357 0.00 0.00 0.00 0.000 6 0.000 0.000 1971 2016 3691 0 0 0 0 0 0 28.83 28.83 28.83

2667 -0.92 -182.8 604.5 -16.8 309 2673 0.00 2.15 0.00 0.000 4 0.000 0.047 1971 613 3689 0 0 0 0 0 0 28.83 26.42 28.83

2694 -0.93 -182.8 608.0 -17.1 310 2698 0.00 2.10 0.00 0.000 6 0.000 0.035 1961 2023 3688 0 0 0 0 0 0 28.83 26.47 28.83

3003 -0.94 -182.8 663.2 -17.6 325 3009 0.00 2.12 0.00 0.000 4 0.000 0.044 1950 3435 3685 0 0 0 0 0 0 28.83 26.44 28.83

3041 -0.95 -182.8 670.2 -17.5 327 3047 0.00 2.15 0.00 0.000 6 0.000 0.037 1950 2023 3685 0 0 0 0 0 0 28.83 26.45 28.83

3362 -0.96 -182.8 727.6 -18.2 343 3363 0.00 0.00 0.00 0.000 6 0.000 0.000 1950 2022 3681 0 0 0 0 0 0 28.83 28.83 28.83

3661 -0.97 -182.8 782.8 -18.5 358 3667 0.00 2.17 0.00 0.000 4 0.000 0.043 1940 3441 3678 0 0 0 0 0 0 28.83 26.44 28.83

3689 -0.98 -182.8 786.5 -18.4 359 3693 0.00 2.15 0.00 0.000 6 0.000 0.036 1940 2020 3678 0 0 0 0 0 0 28.83 26.45 28.83

3997 -0.99 -182.8 848.3 -19.6 374 4001 0.00 2.17 0.00 0.000 4 0.000 0.044 1929 3434 3674 0 0 0 0 0 0 28.83 26.43 28.83

4019 -1.00 -182.8 852.8 -19.6 375 4025 0.00 2.15 0.00 0.000 6 0.000 0.037 1929 2023 3675 0 0 0 0 0 0 28.83 26.44 28.83

4339 -1.00 -182.8 917.7 -19.8 391 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 1929 2023 3672 0 0 0 0 0 0 28.83 28.83 28.83

4639 -1.00 -182.8 976.0 -19.3 406 4644 0.00 2.17 0.00 0.000 4 0.000 0.044 1919 3438 3668 0 0 0 0 0 0 28.83 26.42 28.83

4661 -1.00 -182.8 979.9 -19.3 407 4665 0.00 2.15 0.00 0.000 6 0.000 0.037 1918 2022 3668 0 0 0 0 0 0 28.83 26.44 28.83

4712 end dive: TARGET_DEPTH_EXCEEDED

state 4712 begin apogee

4718 -0.22 0.0 990.5 -19.2 410 4887 0.77 0.00 157.30 1.275 6 0.123 0.000 2179 1967 2955 0 0 0 0 1 0 26.19 28.83 23.91

4888 end apogee: CONTROL_FINISHED_OK

state 4888 begin climb

4890 0.96 182.8 999.5 0.0 418 5063 1.02 2.38 161.32 1.102 4 0.043 0.044 2589 572 2199 0 0 0 0 0 0 24.89 24.63 23.91

5079 0.89 182.8 980.4 22.6 428 5084 0.20 2.20 0.00 0.000 6 0.179 0.022 2540 2008 2191 0 0 0 0 0 0 24.79 24.96 28.83

5395 0.85 182.8 898.6 25.3 444 5401 0.08 2.08 0.00 0.000 4 0.223 0.030 2524 3369 2180 0 0 0 0 0 0 25.73 25.82 28.83

5582 0.81 182.8 854.6 24.0 453 5587 0.10 2.15 0.00 0.000 6 0.203 0.036 2513 1975 2177 0 0 0 0 0 0 25.77 25.96 28.83

5891 0.77 182.8 786.3 21.4 468 5896 0.00 2.10 0.00 0.000 4 0.000 0.030 2512 3373 2174 0 0 0 0 0 0 28.83 26.13 28.83

6030 0.74 182.8 755.7 22.0 475 6036 0.10 2.15 0.00 0.000 6 0.166 0.035 2491 1978 2173 0 0 0 0 0 0 25.92 26.15 28.83

6350 0.72 182.8 697.9 17.2 491 6355 0.00 2.10 0.00 0.000 4 0.000 0.031 2491 3377 2171 0 0 0 0 0 0 28.83 26.25 28.83

6412 0.70 182.8 686.6 18.7 494 6417 0.10 2.15 0.00 0.000 6 0.194 0.034 2478 1962 2171 0 0 0 0 0 0 26.03 26.24 28.83

6727 0.69 182.8 629.0 18.9 510 6731 0.00 2.12 0.00 0.000 4 0.000 0.031 2478 3372 2170 0 0 0 0 0 0 28.83 26.30 28.83

6863 0.68 182.8 604.7 20.0 516 6871 0.10 2.12 0.00 0.000 6 0.189 0.035 2464 1977 2169 0 0 0 0 0 0 26.10 26.29 28.83

7168 0.68 182.8 550.0 16.5 546 7177 0.00 2.10 0.00 0.000 4 0.000 0.031 2464 3372 2168 0 0 0 0 0 0 28.83 26.35 28.83

7272 0.68 182.8 533.2 16.0 556 7279 0.00 2.12 0.00 0.000 6 0.000 0.034 2475 1975 2168 0 0 0 0 0 0 28.83 26.34 28.83

7581 0.67 182.8 487.5 14.4 587 7590 0.00 2.08 0.00 0.000 4 0.000 0.031 2474 3364 2168 0 0 0 0 0 0 28.83 26.39 28.83

7685 0.66 182.8 472.2 14.4 597 7693 0.10 2.12 0.00 0.000 6 0.196 0.034 2462 1967 2168 0 0 0 0 0 0 26.15 26.36 28.83

7993 0.67 182.8 435.9 11.2 628 8001 0.00 2.12 0.00 0.000 4 0.000 0.031 2463 3372 2167 0 0 0 0 0 0 28.83 26.40 28.83

8065 0.67 182.8 426.7 13.2 635 8074 0.00 2.08 0.00 0.000 6 0.000 0.034 2473 1981 2167 0 0 0 0 0 0 28.83 26.39 28.83

8375 0.67 182.8 385.5 12.8 666 8383 0.00 2.10 0.00 0.000 4 0.000 0.032 2473 3372 2167 0 0 0 0 0 0 28.83 26.41 28.83

8499 0.67 182.8 366.5 15.4 678 8506 0.10 2.12 0.00 0.000 6 0.197 0.033 2461 1969 2167 0 0 0 0 0 0 26.17 26.41 28.83

8806 0.68 182.8 328.8 11.9 709 8815 0.00 2.10 0.00 0.000 4 0.000 0.031 2461 3372 2167 0 0 0 0 0 0 28.83 26.44 28.83

9000 0.69 182.8 304.9 13.4 728 9009 0.00 2.10 0.00 0.000 6 0.000 0.034 2471 1973 2167 0 0 0 0 0 0 28.83 26.43 28.83

9311 0.70 182.8 267.9 12.7 759 9319 0.00 2.10 0.00 0.000 4 0.000 0.044 2482 569 2167 0 0 0 0 0 0 28.83 26.39 28.83

9356 0.71 182.8 262.0 13.7 763 9363 0.00 2.03 0.00 0.000 6 0.000 0.024 2482 1977 2167 0 0 0 0 0 0 28.83 26.49 28.83

9664 0.72 187.6 227.8 10.5 794 9674 0.00 2.08 0.00 0.000 4 0.000 0.031 2482 3380 2167 0 0 0 0 0 0 28.83 26.46 28.83

9823 0.72 187.6 208.9 12.3 809 9831 0.00 2.08 0.00 0.000 6 0.000 0.032 2492 1973 2167 0 0 0 0 0 0 28.83 26.45 28.83

10143 0.73 187.6 172.9 11.2 862 10151 0.00 2.12 0.00 0.000 4 0.000 0.033 2493 3371 2168 0 0 0 0 0 0 28.83 26.48 28.83

10356 0.73 189.9 147.4 10.8 901 10364 0.10 2.08 0.00 0.000 6 0.190 0.031 2480 1960 2169 0 0 0 0 0 0 26.25 26.48 28.83

10690 0.82 239.6 121.8 6.0 962 10743 0.10 2.17 42.12 0.517 4 0.096 0.029 2552 3366 1961 0 0 0 0 0 0 26.60 26.13 25.58

10825 0.82 239.6 103.7 16.1 985 10833 0.17 2.08 0.00 0.000 6 0.155 0.032 2514 1982 1953 0 0 0 0 0 0 25.97 26.17 28.83

11158 0.87 259.9 67.6 9.0 1046 11180 0.00 2.10 14.85 0.227 4 0.000 0.030 2514 3370 1907 0 0 0 0 0 0 28.83 26.24 25.77

11423 0.93 285.6 49.3 8.4 1094 11462 0.05 2.12 30.55 0.218 6 0.064 0.028 2605 1953 1793 0 0 0 0 0 0 26.25 26.33 25.82

11786 1.21 397.3 3.3 -0.2 1160 11846 0.10 2.22 54.10 0.117 4 0.099 0.037 2668 3373 1332 0 0 0 0 0 0 26.39 26.23 26.00

12020 end climb: NO_VERTICAL_VELOCITY

state 12020 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	80	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	1975	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	40	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	44	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	-5674.7344	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	271111,072655,2019.040,12415.323,40,1.3,40,-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	0.061,-0.182
_SM_DEPTHo	3.94	KALMAN_X	8380220.0,0.0,0.0,5426880.0,-1983.0
_SM_ANGLEo	-65.8	KALMAN_Y	1610344.2,0.0,0.0,647479.9,4041.1
GPS2	271111,073319,2019.131,12415.267,12,1.3,29,-2.6	MHEAD_RNG_PITCHd_Wd	164.1,11233,-27.2,-11.000
SPEED_LIMITS	0.191,0.311	D_GRID	5508

FREEZE	3.15,27.435,-0.879,0,1,0	_10V_AH	10.3,15.210
SM_CCo	12023,105.43,0.118,0,0,414,622.82	FG_AHR_24Vo	0.000
SM_GC	3.88,6.20,2.10,0.00,0.021,0.041,0.000,102,2049,423,-6.55,1.70,620.61,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2013.37,12419.03,271111,030336	MEM	329852
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	83712,1201
HUMID	37.99	CAP_FILE_SIZE	140995,0
INTERNAL_PRESSURE	9.50232	CFSIZE	260165632,213966848
TCM_TEMP	26.30	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	9	GPS	271111,110101,2018.509,12416.686,37,1.0,38,-2.6
_24V_AH	23.9,17.684

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	223	85.55	SBE_CT	818	24	469.41
Roll_motor	114	143	393.10	AA4330	1841	33	1452.50
VBD_pump_during_apogee	460	1275	14027.77	WL_BB2F	786	105	1974.05
VBD_pump_during_surface	105	117	296.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.72	nil	0	0	0.00
Iridium_during_connect	41	160	158.05	nil	0	0	0.00
Iridium_during_xfer	178	223	953.09	nil	0	0	0.00
Transponder_ping	2	420	22.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.68
TT8	2827	19	576.60
LPSleep	6081	2	137.19
TT8_Active	655	19	133.75
TT8_Sampling	2866	39	1175.09
TT8_CF8	301	45	142.29
TT8_Kalman	0	81	0.32
Analog_circuits	1870	12	231.20
GPS_charging	0	0	0.00
Compass	2528	15	390.64
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	14	begin dive
17	-0.83	-73.4	0.0	0.0	0	27	0.00	0.00	-8.30	0.000	2	0.000	0.000	101	1977	690	0	0	0	0	0	0	28.83	28.83	28.83
30	-0.96	-182.8	4.0	0.0	1	144	6.25	2.10	-99.22	0.000	4	0.181	0.054	1934	609	3701	0	0	0	0	0	0	25.73	26.06	26.41
235	-0.88	-182.8	54.4	-50.1	35	242	0.17	2.12	0.00	0.000	6	0.182	0.034	1968	2020	3701	0	0	0	0	0	0	25.89	26.16	28.83
567	-0.85	-182.8	177.1	-31.5	96	575	0.00	2.17	0.00	0.000	4	0.000	0.040	1959	3426	3701	0	0	0	0	0	0	28.83	26.27	28.83
610	-0.83	-182.8	190.6	-29.3	103	617	0.10	2.15	0.00	0.000	6	0.163	0.038	1984	2023	3701	0	0	0	0	0	0	26.15	26.29	28.83
927	-0.82	-182.8	270.2	-23.7	137	936	0.00	2.12	0.00	0.000	4	0.000	0.044	1984	616	3701	0	0	0	0	0	0	28.83	26.34	28.83
991	-0.82	-182.8	285.0	-22.8	143	999	0.00	2.08	0.00	0.000	6	0.000	0.034	1974	2028	3701	0	0	0	0	0	0	28.83	26.38	28.83
1299	-0.82	-182.8	356.7	-23.8	174	1308	0.00	2.15	0.00	0.000	4	0.000	0.042	1964	3438	3700	0	0	0	0	0	0	28.83	26.39	28.83
1344	-0.83	-182.8	365.6	-21.2	178	1352	0.10	2.15	0.00	0.000	6	0.154	0.036	1991	2014	3699	0	0	0	0	0	0	26.28	26.41	28.83
1651	-0.84	-182.8	428.2	-19.4	209	1655	0.00	2.12	0.00	0.000	4	0.000	0.047	1991	620	3698	0	0	0	0	0	0	28.83	26.39	28.83
1676	-0.85	-182.8	432.7	-20.3	211	1682	0.00	2.10	0.00	0.000	6	0.000	0.036	1981	2025	3697	0	0	0	0	0	0	28.83	26.44	28.83
1985	-0.87	-182.8	492.3	-17.6	242	1993	0.00	2.12	0.00	0.000	4	0.000	0.044	1971	3436	3694	0	0	0	0	0	0	28.83	26.43	28.83
2048	-0.89	-182.8	502.4	-15.3	248	2055	0.00	2.15	0.00	0.000	6	0.000	0.035	1971	2018	3694	0	0	0	0	0	0	28.83	26.45	28.83
2356	-0.90	-182.8	554.0	-16.7	279	2357	0.00	0.00	0.00	0.000	6	0.000	0.000	1971	2016	3691	0	0	0	0	0	0	28.83	28.83	28.83
2667	-0.92	-182.8	604.5	-16.8	309	2673	0.00	2.15	0.00	0.000	4	0.000	0.047	1971	613	3689	0	0	0	0	0	0	28.83	26.42	28.83
2694	-0.93	-182.8	608.0	-17.1	310	2698	0.00	2.10	0.00	0.000	6	0.000	0.035	1961	2023	3688	0	0	0	0	0	0	28.83	26.47	28.83
3003	-0.94	-182.8	663.2	-17.6	325	3009	0.00	2.12	0.00	0.000	4	0.000	0.044	1950	3435	3685	0	0	0	0	0	0	28.83	26.44	28.83
3041	-0.95	-182.8	670.2	-17.5	327	3047	0.00	2.15	0.00	0.000	6	0.000	0.037	1950	2023	3685	0	0	0	0	0	0	28.83	26.45	28.83
3362	-0.96	-182.8	727.6	-18.2	343	3363	0.00	0.00	0.00	0.000	6	0.000	0.000	1950	2022	3681	0	0	0	0	0	0	28.83	28.83	28.83
3661	-0.97	-182.8	782.8	-18.5	358	3667	0.00	2.17	0.00	0.000	4	0.000	0.043	1940	3441	3678	0	0	0	0	0	0	28.83	26.44	28.83
3689	-0.98	-182.8	786.5	-18.4	359	3693	0.00	2.15	0.00	0.000	6	0.000	0.036	1940	2020	3678	0	0	0	0	0	0	28.83	26.45	28.83
3997	-0.99	-182.8	848.3	-19.6	374	4001	0.00	2.17	0.00	0.000	4	0.000	0.044	1929	3434	3674	0	0	0	0	0	0	28.83	26.43	28.83
4019	-1.00	-182.8	852.8	-19.6	375	4025	0.00	2.15	0.00	0.000	6	0.000	0.037	1929	2023	3675	0	0	0	0	0	0	28.83	26.44	28.83
4339	-1.00	-182.8	917.7	-19.8	391	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	1929	2023	3672	0	0	0	0	0	0	28.83	28.83	28.83
4639	-1.00	-182.8	976.0	-19.3	406	4644	0.00	2.17	0.00	0.000	4	0.000	0.044	1919	3438	3668	0	0	0	0	0	0	28.83	26.42	28.83
4661	-1.00	-182.8	979.9	-19.3	407	4665	0.00	2.15	0.00	0.000	6	0.000	0.037	1918	2022	3668	0	0	0	0	0	0	28.83	26.44	28.83
4712	end dive: TARGET_DEPTH_EXCEEDED
state	4712	begin apogee
4718	-0.22	0.0	990.5	-19.2	410	4887	0.77	0.00	157.30	1.275	6	0.123	0.000	2179	1967	2955	0	0	0	0	1	0	26.19	28.83	23.91
4888	end apogee: CONTROL_FINISHED_OK
state	4888	begin climb
4890	0.96	182.8	999.5	0.0	418	5063	1.02	2.38	161.32	1.102	4	0.043	0.044	2589	572	2199	0	0	0	0	0	0	24.89	24.63	23.91
5079	0.89	182.8	980.4	22.6	428	5084	0.20	2.20	0.00	0.000	6	0.179	0.022	2540	2008	2191	0	0	0	0	0	0	24.79	24.96	28.83
5395	0.85	182.8	898.6	25.3	444	5401	0.08	2.08	0.00	0.000	4	0.223	0.030	2524	3369	2180	0	0	0	0	0	0	25.73	25.82	28.83
5582	0.81	182.8	854.6	24.0	453	5587	0.10	2.15	0.00	0.000	6	0.203	0.036	2513	1975	2177	0	0	0	0	0	0	25.77	25.96	28.83
5891	0.77	182.8	786.3	21.4	468	5896	0.00	2.10	0.00	0.000	4	0.000	0.030	2512	3373	2174	0	0	0	0	0	0	28.83	26.13	28.83
6030	0.74	182.8	755.7	22.0	475	6036	0.10	2.15	0.00	0.000	6	0.166	0.035	2491	1978	2173	0	0	0	0	0	0	25.92	26.15	28.83
6350	0.72	182.8	697.9	17.2	491	6355	0.00	2.10	0.00	0.000	4	0.000	0.031	2491	3377	2171	0	0	0	0	0	0	28.83	26.25	28.83
6412	0.70	182.8	686.6	18.7	494	6417	0.10	2.15	0.00	0.000	6	0.194	0.034	2478	1962	2171	0	0	0	0	0	0	26.03	26.24	28.83
6727	0.69	182.8	629.0	18.9	510	6731	0.00	2.12	0.00	0.000	4	0.000	0.031	2478	3372	2170	0	0	0	0	0	0	28.83	26.30	28.83
6863	0.68	182.8	604.7	20.0	516	6871	0.10	2.12	0.00	0.000	6	0.189	0.035	2464	1977	2169	0	0	0	0	0	0	26.10	26.29	28.83
7168	0.68	182.8	550.0	16.5	546	7177	0.00	2.10	0.00	0.000	4	0.000	0.031	2464	3372	2168	0	0	0	0	0	0	28.83	26.35	28.83
7272	0.68	182.8	533.2	16.0	556	7279	0.00	2.12	0.00	0.000	6	0.000	0.034	2475	1975	2168	0	0	0	0	0	0	28.83	26.34	28.83
7581	0.67	182.8	487.5	14.4	587	7590	0.00	2.08	0.00	0.000	4	0.000	0.031	2474	3364	2168	0	0	0	0	0	0	28.83	26.39	28.83
7685	0.66	182.8	472.2	14.4	597	7693	0.10	2.12	0.00	0.000	6	0.196	0.034	2462	1967	2168	0	0	0	0	0	0	26.15	26.36	28.83
7993	0.67	182.8	435.9	11.2	628	8001	0.00	2.12	0.00	0.000	4	0.000	0.031	2463	3372	2167	0	0	0	0	0	0	28.83	26.40	28.83
8065	0.67	182.8	426.7	13.2	635	8074	0.00	2.08	0.00	0.000	6	0.000	0.034	2473	1981	2167	0	0	0	0	0	0	28.83	26.39	28.83
8375	0.67	182.8	385.5	12.8	666	8383	0.00	2.10	0.00	0.000	4	0.000	0.032	2473	3372	2167	0	0	0	0	0	0	28.83	26.41	28.83
8499	0.67	182.8	366.5	15.4	678	8506	0.10	2.12	0.00	0.000	6	0.197	0.033	2461	1969	2167	0	0	0	0	0	0	26.17	26.41	28.83
8806	0.68	182.8	328.8	11.9	709	8815	0.00	2.10	0.00	0.000	4	0.000	0.031	2461	3372	2167	0	0	0	0	0	0	28.83	26.44	28.83
9000	0.69	182.8	304.9	13.4	728	9009	0.00	2.10	0.00	0.000	6	0.000	0.034	2471	1973	2167	0	0	0	0	0	0	28.83	26.43	28.83
9311	0.70	182.8	267.9	12.7	759	9319	0.00	2.10	0.00	0.000	4	0.000	0.044	2482	569	2167	0	0	0	0	0	0	28.83	26.39	28.83
9356	0.71	182.8	262.0	13.7	763	9363	0.00	2.03	0.00	0.000	6	0.000	0.024	2482	1977	2167	0	0	0	0	0	0	28.83	26.49	28.83
9664	0.72	187.6	227.8	10.5	794	9674	0.00	2.08	0.00	0.000	4	0.000	0.031	2482	3380	2167	0	0	0	0	0	0	28.83	26.46	28.83
9823	0.72	187.6	208.9	12.3	809	9831	0.00	2.08	0.00	0.000	6	0.000	0.032	2492	1973	2167	0	0	0	0	0	0	28.83	26.45	28.83
10143	0.73	187.6	172.9	11.2	862	10151	0.00	2.12	0.00	0.000	4	0.000	0.033	2493	3371	2168	0	0	0	0	0	0	28.83	26.48	28.83
10356	0.73	189.9	147.4	10.8	901	10364	0.10	2.08	0.00	0.000	6	0.190	0.031	2480	1960	2169	0	0	0	0	0	0	26.25	26.48	28.83
10690	0.82	239.6	121.8	6.0	962	10743	0.10	2.17	42.12	0.517	4	0.096	0.029	2552	3366	1961	0	0	0	0	0	0	26.60	26.13	25.58
10825	0.82	239.6	103.7	16.1	985	10833	0.17	2.08	0.00	0.000	6	0.155	0.032	2514	1982	1953	0	0	0	0	0	0	25.97	26.17	28.83
11158	0.87	259.9	67.6	9.0	1046	11180	0.00	2.10	14.85	0.227	4	0.000	0.030	2514	3370	1907	0	0	0	0	0	0	28.83	26.24	25.77
11423	0.93	285.6	49.3	8.4	1094	11462	0.05	2.12	30.55	0.218	6	0.064	0.028	2605	1953	1793	0	0	0	0	0	0	26.25	26.33	25.82
11786	1.21	397.3	3.3	-0.2	1160	11846	0.10	2.22	54.10	0.117	4	0.099	0.037	2668	3373	1332	0	0	0	0	0	0	26.39	26.23	26.00
12020	end climb: NO_VERTICAL_VELOCITY
state	12020	begin surface