Glider dive log

OKMC Jun11 * SG167 * Dive index * Mission links * Dive 205 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 205 HEADING -1 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 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 1875 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2075 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 3 SM_CC 400 ROLL_TIMEOUT 15 XPDR_VALID 3

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 81 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 71 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 6 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.02 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 400 UPLOAD_DIVES_MAX -1 C_VBD 2839 DEVICE3 35

T_MISSION 440 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 -5 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -56644.867 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 -8 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 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 2800 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 40 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 400

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 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 40 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 -8 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 400

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 -56644.867

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 440

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 0.02 T_TURN 225

C_PITCH 2800 KALMAN_USE 2 ROLL_ADJ_GAIN 6 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2075 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 1875 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 -5

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 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 8 R_PORT_OVSHOOT 81 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 71 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 205 NAV_MODE 2 SEABIRD_C_I -0.0015691385 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020000842 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 3 N_DIVES 0 SEABIRD_T_G 0.0043379883 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 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 250711,092755,1833.290,12218.234,38,2.0,38,-2.0 TGT_NAME S2

_CALLS 1 TGT_LATLONG 2015.000,12420.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.013,-0.305

_SM_DEPTHo 1.51 KALMAN_X -1531.9,-192.4,226.3,5724.7,67.3

_SM_ANGLEo -67.8 KALMAN_Y 11735.9,46.7,-129.6,-54154.7,2747.8

GPS2 250711,093420,1833.314,12218.203,10,1.4,10,-2.0 MHEAD_RNG_PITCHd_Wd 47.2,283286,-15.4,-8.250

SPEED_LIMITS 0.143,0.244 D_GRID 361

Post-dive calculations and measurements:

FINISH 0.9,1.020945 _10V_AH 10.3,34.104

SM_CCo 7444,0.00,0.000,0,0,485,577.19 FG_AHR_24Vo 0.000

SM_GC 1.49,7.78,0.00,0.00,0.034,0.000,0.000,117,1855,485,-8.30,-0.59,577.19,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1825.94,12220.08,250711,080849 MEM 324096

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 57022,936

HUMID 38.38 CAP_FILE_SIZE 115227,0

INTERNAL_PRESSURE 9.34606 CFSIZE 260165632,122433536

TCM_TEMP 29.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 30 CURRENT 0.246,329.2,1

_24V_AH 24.8,35.403 GPS 250711,114000,1834.802,12218.203,21,1.4,37,-2.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 231 111.87 SBE_CT 626 24 372.91

Roll_motor 101 42 106.04 AA3830 914 33 748.74

VBD_pump_during_apogee 552 871 11928.23 WL_BB2F 1747 105 4551.50

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 25 103 65.70 nil 0 0 0.00

Iridium_during_connect 17 160 69.82 nil 0 0 0.00

Iridium_during_xfer 191 223 1058.28 nil 0 0 0.00

Transponder_ping 7 420 78.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.85

TT8 2222 19 453.22

LPSleep 1964 2 44.32

TT8_Active 603 19 123.13

TT8_Sampling 2404 39 985.76

TT8_CF8 630 45 297.40

TT8_Kalman 0 0 0.00

Analog_circuits 1616 12 199.83

GPS_charging 0 0 0.00

Compass 2417 15 373.57

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 -0.56 -146.0 0.0 0.0 0 113 0.00 0.00 -92.97 0.000 2 0.000 0.000 111 1828 3276 0 0 0 0 0 0

117 -0.56 -146.0 7.1 -12.7 12 135 9.85 2.17 -2.38 0.000 4 0.231 0.042 2597 3279 3439 0 0 0 0 0 0

160 -0.56 -146.0 32.2 -54.6 18 170 0.00 2.03 0.00 0.000 6 0.000 0.020 2597 1883 3440 0 0 0 0 0 0

236 -0.56 -146.0 54.9 -28.7 31 244 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 1882 3440 0 0 0 0 0 0

315 -0.56 -146.0 74.1 -22.3 44 324 0.00 2.03 0.00 0.000 4 0.000 0.026 2597 481 3440 0 0 0 0 0 0

390 -0.56 -146.0 92.3 -23.3 57 399 0.00 2.28 0.00 0.000 6 0.000 0.021 2587 2043 3441 0 0 0 0 0 0

468 -0.56 -146.0 109.7 -23.5 70 476 0.12 1.80 0.00 0.000 4 0.199 0.031 2608 3261 3441 0 0 0 0 0 0

522 -0.56 -146.0 121.7 -21.0 79 530 0.00 1.77 0.00 0.000 6 0.000 0.021 2609 1985 3441 0 0 0 0 0 0

596 -0.56 -146.0 137.3 -21.6 92 603 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 1982 3442 0 0 0 0 0 0

669 -0.56 -146.0 147.8 -11.3 105 678 0.00 1.90 0.00 0.000 4 0.000 0.031 2602 3266 3442 0 0 0 0 0 0

738 -0.56 -146.0 154.3 -10.7 115 746 0.00 1.92 0.00 0.000 6 0.000 0.017 2601 1890 3443 0 0 0 0 0 0

813 -0.56 -146.0 163.1 -11.5 128 821 0.00 2.00 0.00 0.000 4 0.000 0.028 2601 510 3443 0 0 0 0 0 0

1037 -0.56 -146.0 183.7 -10.1 168 1045 0.00 1.77 0.00 0.000 6 0.000 0.020 2600 1756 3443 0 0 0 0 0 0

1111 -0.56 -146.0 190.9 -9.6 181 1120 0.00 2.22 0.00 0.000 4 0.000 0.033 2601 3261 3443 0 0 0 0 0 0

1215 -0.56 -146.0 199.7 -8.7 199 1223 0.00 1.85 0.00 0.000 6 0.000 0.018 2600 1942 3443 0 0 0 0 0 0

1286 -0.56 -146.0 206.1 -8.5 206 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 1942 3443 0 0 0 0 0 0

1608 -0.56 -146.0 230.7 -7.8 236 1612 0.00 2.03 0.00 0.000 4 0.000 0.028 2601 518 3441 0 0 0 0 0 0

1711 -0.56 -146.0 239.5 -8.5 245 1716 0.00 2.10 0.00 0.000 6 0.000 0.021 2600 1960 3441 0 0 0 0 0 0

2042 -0.56 -146.0 266.3 -8.2 276 2045 0.00 1.90 0.00 0.000 4 0.000 0.034 2601 3259 3439 0 0 0 0 0 0

2088 -0.56 -146.0 269.9 -8.0 280 2092 0.00 1.80 0.00 0.000 6 0.000 0.018 2600 1965 3438 0 0 0 0 0 0

2423 -0.56 -146.0 300.5 -9.3 311 2429 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 1965 3436 0 0 0 0 0 0

2752 -0.56 -146.0 328.8 -7.9 342 2758 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 1965 3434 0 0 0 0 0 0

3082 -0.56 -146.0 355.4 -7.8 373 3085 0.00 2.10 0.00 0.000 4 0.000 0.030 2600 504 3430 0 0 0 0 0 0

3135 end dive: TARGET_DEPTH_EXCEEDED

state 3135 begin apogee

3144 -0.20 0.0 361.2 9.6 377 3257 0.40 0.00 106.80 0.871 4 0.127 0.000 2733 2060 2839 0 0 0 0 0 0

3258 end apogee: CONTROL_FINISHED_OK

state 3258 begin climb

3263 0.56 146.0 364.7 0.0 387 3382 0.65 2.20 110.75 0.838 4 0.086 0.036 2977 3465 2243 0 0 0 0 0 0

3556 0.56 146.0 340.5 10.4 412 3564 0.00 2.00 0.00 0.000 6 0.000 0.018 2986 2090 2235 0 0 0 0 0 0

3882 0.56 146.0 309.4 10.0 443 3886 0.00 2.08 0.00 0.000 4 0.000 0.033 2986 3468 2232 0 0 0 0 0 0

4063 0.56 146.0 288.3 12.6 459 4067 0.00 2.15 0.00 0.000 6 0.000 0.019 2995 1991 2230 0 0 0 0 0 0

4393 0.56 146.0 251.2 9.8 490 4397 0.00 1.88 0.00 0.000 4 0.000 0.031 3005 686 2228 0 0 0 0 0 0

4444 0.56 146.0 246.2 9.9 494 4453 0.00 1.85 0.00 0.000 6 0.000 0.020 3005 1962 2228 0 0 0 0 0 0

4770 0.56 146.0 215.5 10.0 525 4774 0.00 1.83 0.00 0.000 4 0.000 0.028 3012 693 2227 0 0 0 0 0 0

4818 0.56 146.0 210.7 10.5 529 4821 0.00 1.73 0.00 0.000 6 0.000 0.020 3012 1910 2227 0 0 0 0 0 0

5144 0.57 146.7 182.0 8.2 580 5152 0.00 2.33 0.00 0.000 4 0.000 0.034 3013 3466 2225 0 0 0 0 0 0

5312 0.57 146.7 167.1 8.6 610 5321 0.10 2.22 0.00 0.000 6 0.129 0.019 2989 1920 2225 0 0 0 0 0 0

5387 0.64 204.7 162.7 6.0 623 5439 0.00 1.85 42.90 0.760 4 0.000 0.031 2996 695 2002 0 0 0 0 0 0

5529 0.68 240.8 154.0 6.9 645 5562 0.00 1.70 28.42 0.728 6 0.000 0.018 2995 1871 1856 0 0 0 0 0 0

5631 0.73 282.4 147.3 6.7 661 5673 0.12 2.45 32.83 0.717 4 0.092 0.032 3052 3479 1687 0 0 0 0 0 0

5711 0.73 282.4 139.9 10.2 672 5720 0.00 2.22 0.00 0.000 6 0.000 0.019 3062 1983 1684 0 0 0 0 0 0

5787 0.73 282.4 132.9 8.8 685 5795 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1983 1682 0 0 0 0 0 0

5862 0.73 282.4 125.9 9.8 698 5870 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1983 1681 0 0 0 0 0 0

5940 0.77 311.2 119.9 7.2 711 5972 0.00 2.30 22.48 0.682 4 0.000 0.031 3062 3474 1568 0 0 0 0 0 0

6030 0.77 311.2 111.2 10.4 725 6039 0.00 2.10 0.00 0.000 6 0.000 0.018 3067 2044 1565 0 0 0 0 0 0

6111 0.77 311.2 103.9 9.0 738 6120 0.00 2.00 0.00 0.000 4 0.000 0.030 3076 694 1564 0 0 0 0 0 0

6176 0.77 311.2 98.1 8.7 749 6185 0.00 1.85 0.00 0.000 6 0.000 0.019 3076 1967 1563 0 0 0 0 0 0

6253 0.77 311.2 91.0 9.4 762 6261 0.00 2.25 0.00 0.000 4 0.000 0.032 3076 3465 1563 0 0 0 0 0 0

6333 0.77 311.2 83.6 9.9 776 6342 0.10 2.03 0.00 0.000 6 0.118 0.018 3046 2055 1562 0 0 0 0 0 0

6409 0.77 311.2 76.2 9.5 789 6418 0.00 1.98 0.00 0.000 4 0.000 0.030 3054 710 1562 0 0 0 0 0 0

6451 0.77 311.2 72.6 9.2 795 6459 0.00 1.92 0.00 0.000 6 0.000 0.019 3054 2044 1562 0 0 0 0 0 0

6527 0.80 336.4 66.6 7.3 808 6554 0.00 2.15 20.10 0.623 4 0.000 0.033 3054 3454 1465 0 0 0 0 0 0

6614 0.86 386.2 61.2 6.4 821 6663 0.00 1.95 38.92 0.625 6 0.000 0.018 3062 2095 1264 0 0 0 0 0 0

6733 0.86 386.2 52.4 8.7 839 6742 0.00 2.08 0.00 0.000 4 0.000 0.029 3070 699 1261 0 0 0 0 0 0

6779 0.90 418.8 49.2 7.0 846 6812 0.00 2.05 26.88 0.599 6 0.000 0.019 3069 2095 1130 0 0 0 0 0 0

6882 0.97 476.5 44.0 6.1 862 6938 0.12 2.12 46.05 0.596 4 0.091 0.026 3143 705 895 0 0 0 0 0 0

6977 0.97 476.5 33.0 11.6 875 6986 0.08 1.98 0.00 0.000 6 0.106 0.018 3115 2057 893 0 0 0 0 0 0

7056 1.02 517.6 27.0 6.7 888 7097 0.00 2.12 31.62 0.572 4 0.000 0.031 3115 3446 727 0 0 0 0 0 0

7128 1.07 554.4 22.2 6.8 898 7161 0.00 1.92 28.00 0.558 6 0.000 0.018 3116 2130 577 0 0 0 0 0 0

7227 1.11 585.8 14.5 7.1 914 7250 0.12 2.10 16.25 0.534 4 0.090 0.028 3189 701 489 0 0 0 0 0 0

7303 1.11 585.8 6.9 11.8 926 7313 0.08 2.03 0.00 0.000 6 0.109 0.020 3160 2084 487 0 0 0 0 0 0

7336 end climb: SURFACE_DEPTH_REACHED

state 7336 begin surface coast

7364 end surface coast: CONTROL_FINISHED_OK

state 7364 begin surface

ID	167	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	205	HEADING	-1	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	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	1875	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2075	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	3	SM_CC	400	ROLL_TIMEOUT	15	XPDR_VALID	3
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	81	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	71	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	6	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.02	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	400	UPLOAD_DIVES_MAX	-1	C_VBD	2839	DEVICE3	35
T_MISSION	440	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	-5	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-56644.867	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	-8	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	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	2800	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	40	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	250711,092755,1833.290,12218.234,38,2.0,38,-2.0	TGT_NAME	S2
_CALLS	1	TGT_LATLONG	2015.000,12420.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.013,-0.305
_SM_DEPTHo	1.51	KALMAN_X	-1531.9,-192.4,226.3,5724.7,67.3
_SM_ANGLEo	-67.8	KALMAN_Y	11735.9,46.7,-129.6,-54154.7,2747.8
GPS2	250711,093420,1833.314,12218.203,10,1.4,10,-2.0	MHEAD_RNG_PITCHd_Wd	47.2,283286,-15.4,-8.250
SPEED_LIMITS	0.143,0.244	D_GRID	361

FINISH	0.9,1.020945	_10V_AH	10.3,34.104
SM_CCo	7444,0.00,0.000,0,0,485,577.19	FG_AHR_24Vo	0.000
SM_GC	1.49,7.78,0.00,0.00,0.034,0.000,0.000,117,1855,485,-8.30,-0.59,577.19,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1825.94,12220.08,250711,080849	MEM	324096
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	57022,936
HUMID	38.38	CAP_FILE_SIZE	115227,0
INTERNAL_PRESSURE	9.34606	CFSIZE	260165632,122433536
TCM_TEMP	29.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	30	CURRENT	0.246,329.2,1
_24V_AH	24.8,35.403	GPS	250711,114000,1834.802,12218.203,21,1.4,37,-2.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	231	111.87	SBE_CT	626	24	372.91
Roll_motor	101	42	106.04	AA3830	914	33	748.74
VBD_pump_during_apogee	552	871	11928.23	WL_BB2F	1747	105	4551.50
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	25	103	65.70	nil	0	0	0.00
Iridium_during_connect	17	160	69.82	nil	0	0	0.00
Iridium_during_xfer	191	223	1058.28	nil	0	0	0.00
Transponder_ping	7	420	78.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.85
TT8	2222	19	453.22
LPSleep	1964	2	44.32
TT8_Active	603	19	123.13
TT8_Sampling	2404	39	985.76
TT8_CF8	630	45	297.40
TT8_Kalman	0	0	0.00
Analog_circuits	1616	12	199.83
GPS_charging	0	0	0.00
Compass	2417	15	373.57
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	-0.56	-146.0	0.0	0.0	0	113	0.00	0.00	-92.97	0.000	2	0.000	0.000	111	1828	3276	0	0	0	0	0	0
117	-0.56	-146.0	7.1	-12.7	12	135	9.85	2.17	-2.38	0.000	4	0.231	0.042	2597	3279	3439	0	0	0	0	0	0
160	-0.56	-146.0	32.2	-54.6	18	170	0.00	2.03	0.00	0.000	6	0.000	0.020	2597	1883	3440	0	0	0	0	0	0
236	-0.56	-146.0	54.9	-28.7	31	244	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	1882	3440	0	0	0	0	0	0
315	-0.56	-146.0	74.1	-22.3	44	324	0.00	2.03	0.00	0.000	4	0.000	0.026	2597	481	3440	0	0	0	0	0	0
390	-0.56	-146.0	92.3	-23.3	57	399	0.00	2.28	0.00	0.000	6	0.000	0.021	2587	2043	3441	0	0	0	0	0	0
468	-0.56	-146.0	109.7	-23.5	70	476	0.12	1.80	0.00	0.000	4	0.199	0.031	2608	3261	3441	0	0	0	0	0	0
522	-0.56	-146.0	121.7	-21.0	79	530	0.00	1.77	0.00	0.000	6	0.000	0.021	2609	1985	3441	0	0	0	0	0	0
596	-0.56	-146.0	137.3	-21.6	92	603	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	1982	3442	0	0	0	0	0	0
669	-0.56	-146.0	147.8	-11.3	105	678	0.00	1.90	0.00	0.000	4	0.000	0.031	2602	3266	3442	0	0	0	0	0	0
738	-0.56	-146.0	154.3	-10.7	115	746	0.00	1.92	0.00	0.000	6	0.000	0.017	2601	1890	3443	0	0	0	0	0	0
813	-0.56	-146.0	163.1	-11.5	128	821	0.00	2.00	0.00	0.000	4	0.000	0.028	2601	510	3443	0	0	0	0	0	0
1037	-0.56	-146.0	183.7	-10.1	168	1045	0.00	1.77	0.00	0.000	6	0.000	0.020	2600	1756	3443	0	0	0	0	0	0
1111	-0.56	-146.0	190.9	-9.6	181	1120	0.00	2.22	0.00	0.000	4	0.000	0.033	2601	3261	3443	0	0	0	0	0	0
1215	-0.56	-146.0	199.7	-8.7	199	1223	0.00	1.85	0.00	0.000	6	0.000	0.018	2600	1942	3443	0	0	0	0	0	0
1286	-0.56	-146.0	206.1	-8.5	206	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	1942	3443	0	0	0	0	0	0
1608	-0.56	-146.0	230.7	-7.8	236	1612	0.00	2.03	0.00	0.000	4	0.000	0.028	2601	518	3441	0	0	0	0	0	0
1711	-0.56	-146.0	239.5	-8.5	245	1716	0.00	2.10	0.00	0.000	6	0.000	0.021	2600	1960	3441	0	0	0	0	0	0
2042	-0.56	-146.0	266.3	-8.2	276	2045	0.00	1.90	0.00	0.000	4	0.000	0.034	2601	3259	3439	0	0	0	0	0	0
2088	-0.56	-146.0	269.9	-8.0	280	2092	0.00	1.80	0.00	0.000	6	0.000	0.018	2600	1965	3438	0	0	0	0	0	0
2423	-0.56	-146.0	300.5	-9.3	311	2429	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	1965	3436	0	0	0	0	0	0
2752	-0.56	-146.0	328.8	-7.9	342	2758	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	1965	3434	0	0	0	0	0	0
3082	-0.56	-146.0	355.4	-7.8	373	3085	0.00	2.10	0.00	0.000	4	0.000	0.030	2600	504	3430	0	0	0	0	0	0
3135	end dive: TARGET_DEPTH_EXCEEDED
state	3135	begin apogee
3144	-0.20	0.0	361.2	9.6	377	3257	0.40	0.00	106.80	0.871	4	0.127	0.000	2733	2060	2839	0	0	0	0	0	0
3258	end apogee: CONTROL_FINISHED_OK
state	3258	begin climb
3263	0.56	146.0	364.7	0.0	387	3382	0.65	2.20	110.75	0.838	4	0.086	0.036	2977	3465	2243	0	0	0	0	0	0
3556	0.56	146.0	340.5	10.4	412	3564	0.00	2.00	0.00	0.000	6	0.000	0.018	2986	2090	2235	0	0	0	0	0	0
3882	0.56	146.0	309.4	10.0	443	3886	0.00	2.08	0.00	0.000	4	0.000	0.033	2986	3468	2232	0	0	0	0	0	0
4063	0.56	146.0	288.3	12.6	459	4067	0.00	2.15	0.00	0.000	6	0.000	0.019	2995	1991	2230	0	0	0	0	0	0
4393	0.56	146.0	251.2	9.8	490	4397	0.00	1.88	0.00	0.000	4	0.000	0.031	3005	686	2228	0	0	0	0	0	0
4444	0.56	146.0	246.2	9.9	494	4453	0.00	1.85	0.00	0.000	6	0.000	0.020	3005	1962	2228	0	0	0	0	0	0
4770	0.56	146.0	215.5	10.0	525	4774	0.00	1.83	0.00	0.000	4	0.000	0.028	3012	693	2227	0	0	0	0	0	0
4818	0.56	146.0	210.7	10.5	529	4821	0.00	1.73	0.00	0.000	6	0.000	0.020	3012	1910	2227	0	0	0	0	0	0
5144	0.57	146.7	182.0	8.2	580	5152	0.00	2.33	0.00	0.000	4	0.000	0.034	3013	3466	2225	0	0	0	0	0	0
5312	0.57	146.7	167.1	8.6	610	5321	0.10	2.22	0.00	0.000	6	0.129	0.019	2989	1920	2225	0	0	0	0	0	0
5387	0.64	204.7	162.7	6.0	623	5439	0.00	1.85	42.90	0.760	4	0.000	0.031	2996	695	2002	0	0	0	0	0	0
5529	0.68	240.8	154.0	6.9	645	5562	0.00	1.70	28.42	0.728	6	0.000	0.018	2995	1871	1856	0	0	0	0	0	0
5631	0.73	282.4	147.3	6.7	661	5673	0.12	2.45	32.83	0.717	4	0.092	0.032	3052	3479	1687	0	0	0	0	0	0
5711	0.73	282.4	139.9	10.2	672	5720	0.00	2.22	0.00	0.000	6	0.000	0.019	3062	1983	1684	0	0	0	0	0	0
5787	0.73	282.4	132.9	8.8	685	5795	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1983	1682	0	0	0	0	0	0
5862	0.73	282.4	125.9	9.8	698	5870	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1983	1681	0	0	0	0	0	0
5940	0.77	311.2	119.9	7.2	711	5972	0.00	2.30	22.48	0.682	4	0.000	0.031	3062	3474	1568	0	0	0	0	0	0
6030	0.77	311.2	111.2	10.4	725	6039	0.00	2.10	0.00	0.000	6	0.000	0.018	3067	2044	1565	0	0	0	0	0	0
6111	0.77	311.2	103.9	9.0	738	6120	0.00	2.00	0.00	0.000	4	0.000	0.030	3076	694	1564	0	0	0	0	0	0
6176	0.77	311.2	98.1	8.7	749	6185	0.00	1.85	0.00	0.000	6	0.000	0.019	3076	1967	1563	0	0	0	0	0	0
6253	0.77	311.2	91.0	9.4	762	6261	0.00	2.25	0.00	0.000	4	0.000	0.032	3076	3465	1563	0	0	0	0	0	0
6333	0.77	311.2	83.6	9.9	776	6342	0.10	2.03	0.00	0.000	6	0.118	0.018	3046	2055	1562	0	0	0	0	0	0
6409	0.77	311.2	76.2	9.5	789	6418	0.00	1.98	0.00	0.000	4	0.000	0.030	3054	710	1562	0	0	0	0	0	0
6451	0.77	311.2	72.6	9.2	795	6459	0.00	1.92	0.00	0.000	6	0.000	0.019	3054	2044	1562	0	0	0	0	0	0
6527	0.80	336.4	66.6	7.3	808	6554	0.00	2.15	20.10	0.623	4	0.000	0.033	3054	3454	1465	0	0	0	0	0	0
6614	0.86	386.2	61.2	6.4	821	6663	0.00	1.95	38.92	0.625	6	0.000	0.018	3062	2095	1264	0	0	0	0	0	0
6733	0.86	386.2	52.4	8.7	839	6742	0.00	2.08	0.00	0.000	4	0.000	0.029	3070	699	1261	0	0	0	0	0	0
6779	0.90	418.8	49.2	7.0	846	6812	0.00	2.05	26.88	0.599	6	0.000	0.019	3069	2095	1130	0	0	0	0	0	0
6882	0.97	476.5	44.0	6.1	862	6938	0.12	2.12	46.05	0.596	4	0.091	0.026	3143	705	895	0	0	0	0	0	0
6977	0.97	476.5	33.0	11.6	875	6986	0.08	1.98	0.00	0.000	6	0.106	0.018	3115	2057	893	0	0	0	0	0	0
7056	1.02	517.6	27.0	6.7	888	7097	0.00	2.12	31.62	0.572	4	0.000	0.031	3115	3446	727	0	0	0	0	0	0
7128	1.07	554.4	22.2	6.8	898	7161	0.00	1.92	28.00	0.558	6	0.000	0.018	3116	2130	577	0	0	0	0	0	0
7227	1.11	585.8	14.5	7.1	914	7250	0.12	2.10	16.25	0.534	4	0.090	0.028	3189	701	489	0	0	0	0	0	0
7303	1.11	585.8	6.9	11.8	926	7313	0.08	2.03	0.00	0.000	6	0.109	0.020	3160	2084	487	0	0	0	0	0	0
7336	end climb: SURFACE_DEPTH_REACHED
state	7336	begin surface coast
7364	end surface coast: CONTROL_FINISHED_OK
state	7364	begin surface