Glider dive log

OKMC Jun11 * SG167 * Dive index * Mission links * Dive 209 * 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 209 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 90 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 65 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 280 UPLOAD_DIVES_MAX -1 C_VBD 2839 DEVICE3 35

T_MISSION 340 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 -56649.902 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 225 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 280

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 -56649.902

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 340

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 225 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 8 R_PORT_OVSHOOT 90 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 65 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 209 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 250711,203906,1840.027,12216.560,34,1.0,34,-2.1 TGT_NAME S2

_CALLS 1 TGT_LATLONG 2015.000,12420.000

_XMS_NAKs 1 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.013,-0.305

_SM_DEPTHo 1.58 KALMAN_X -1531.9,-192.4,226.3,5724.7,67.3

_SM_ANGLEo -65.5 KALMAN_Y 11735.9,46.7,-129.6,-54154.7,2747.8

GPS2 250711,204808,1840.228,12216.396,10,1.4,10,-2.1 MHEAD_RNG_PITCHd_Wd 97.8,277364,-17.0,-11.786

SPEED_LIMITS 0.204,0.330 D_GRID 655

Post-dive calculations and measurements:

FINISH 1.0,1.021086 _10V_AH 10.2,34.660

SM_CCo 10158,0.00,0.000,0,0,485,577.19 FG_AHR_24Vo 0.000

SM_GC 1.60,8.02,0.00,0.00,0.035,0.000,0.000,122,1942,485,-8.30,1.89,577.19,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1830.49,12216.24,250711,171732 MEM 324100

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 56813,978

HUMID 39.17 CAP_FILE_SIZE 126140,0

INTERNAL_PRESSURE 9.25817 CFSIZE 260165632,122130432

TCM_TEMP 27.40 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 17 CURRENT 0.351,308.0,1

_24V_AH 24.1,36.007 GPS 250711,233858,1841.345,12216.251,13,7.3,32,-2.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 231 109.55 SBE_CT 660 24 381.90

Roll_motor 90 61 135.19 AA3830 832 33 662.32

VBD_pump_during_apogee 623 1113 16738.96 WL_BB2F 1222 105 3092.63

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 63.08 nil 0 0 0.00

Iridium_during_connect 40 160 155.70 nil 0 0 0.00

Iridium_during_xfer 283 223 1525.34 nil 0 0 0.00

Transponder_ping 4 420 43.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.69

TT8 2381 19 480.93

LPSleep 4514 2 100.84

TT8_Active 618 19 124.96

TT8_Sampling 2534 39 1029.06

TT8_CF8 632 45 295.69

TT8_Kalman 0 0 0.00

Analog_circuits 1731 12 211.88

GPS_charging 0 0 0.00

Compass 2388 15 365.48

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 -0.69 -219.0 0.0 0.0 0 110 0.00 0.00 -90.93 0.000 2 0.000 0.000 108 1953 3110 0 0 0 0 0 0

113 -0.69 -219.0 6.3 -12.2 12 145 9.80 2.05 -9.75 0.000 4 0.231 0.050 2558 3277 3737 0 0 0 0 0 0

180 -0.69 -219.0 37.4 -40.2 22 188 0.00 2.03 0.00 0.000 6 0.000 0.018 2562 1872 3738 0 0 0 0 0 0

257 -0.69 -219.0 69.3 -37.4 35 265 0.00 2.03 0.00 0.000 4 0.000 0.029 2564 498 3738 0 0 0 0 0 0

444 -0.69 -219.0 121.5 -23.2 68 452 0.00 1.45 0.00 0.000 6 0.000 0.019 2559 1539 3739 0 0 0 0 0 0

522 -0.69 -219.0 137.4 -18.9 81 529 0.00 2.58 0.00 0.000 4 0.000 0.030 2546 3261 3739 0 0 0 0 0 0

625 -0.69 -219.0 156.8 -16.8 99 633 0.00 2.30 0.00 0.000 6 0.000 0.018 2545 1672 3740 0 0 0 0 0 0

702 -0.69 -219.0 170.1 -18.6 112 711 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 1672 3740 0 0 0 0 0 0

780 -0.69 -219.0 183.7 -17.4 125 788 0.00 2.40 0.00 0.000 4 0.000 0.030 2535 3273 3740 0 0 0 0 0 0

803 -0.69 -219.0 187.7 -17.6 128 811 0.10 2.08 0.00 0.000 6 0.153 0.017 2566 1790 3740 0 0 0 0 0 0

880 -0.69 -219.0 197.8 -13.2 141 888 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 1789 3741 0 0 0 0 0 0

960 -0.69 -219.0 208.4 -12.9 149 964 0.00 2.17 0.00 0.000 4 0.000 0.030 2561 3263 3741 0 0 0 0 0 0

1003 -0.69 -219.0 214.1 -12.3 152 1012 0.00 2.03 0.00 0.000 6 0.000 0.018 2561 1839 3741 0 0 0 0 0 0

1331 -0.69 -219.0 262.9 -15.8 183 1335 0.00 2.10 0.00 0.000 4 0.000 0.033 2561 3267 3740 0 0 0 0 0 0

1484 -0.69 -219.0 282.7 -10.6 196 1489 0.00 1.98 0.00 0.000 6 0.000 0.018 2561 1880 3739 0 0 0 0 0 0

1815 -0.69 -219.0 322.8 -12.0 227 1819 0.00 2.08 0.00 0.000 4 0.000 0.033 2560 3261 3736 0 0 0 0 0 0

1872 -0.69 -219.0 330.4 -12.8 232 1877 0.00 1.95 0.00 0.000 6 0.000 0.018 2560 1888 3735 0 0 0 0 0 0

2204 -0.69 -219.0 373.0 -10.9 263 2205 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1887 3733 0 0 0 0 0 0

2523 -0.69 -219.0 411.7 -13.6 293 2524 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1887 3730 0 0 0 0 0 0

2845 -0.69 -219.0 453.9 -13.0 323 2849 0.00 2.10 0.00 0.000 4 0.000 0.036 2561 3268 3726 0 0 0 0 0 0

2892 -0.69 -219.0 460.0 -11.4 327 2896 0.00 1.98 0.00 0.000 6 0.000 0.019 2561 1882 3726 0 0 0 0 0 0

3223 -0.69 -219.0 495.7 -10.6 358 3227 0.00 2.08 0.00 0.000 4 0.000 0.035 2561 3264 3722 0 0 0 0 0 0

3263 -0.69 -219.0 499.5 -9.6 361 3267 0.00 1.92 0.00 0.000 6 0.000 0.018 2560 1897 3722 0 0 0 0 0 0

3587 -0.69 -219.0 530.6 -9.6 377 3588 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1896 3719 0 0 0 0 0 0

3894 -0.69 -219.0 558.0 -9.0 392 3898 0.00 2.03 0.00 0.000 4 0.000 0.035 2560 3260 3717 0 0 0 0 0 0

3990 -0.69 -219.0 565.4 -7.3 396 3993 0.00 1.85 0.00 0.000 6 0.000 0.019 2560 1950 3716 0 0 0 0 0 0

4319 -0.69 -219.0 594.8 -9.6 412 4323 0.00 2.00 0.00 0.000 4 0.000 0.036 2560 3259 3713 0 0 0 0 0 0

4351 -0.69 -219.0 598.0 -9.3 413 4355 0.00 1.80 0.00 0.000 6 0.000 0.019 2560 1963 3713 0 0 0 0 0 0

4675 -0.69 -219.0 627.1 -9.1 429 4676 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1962 3710 0 0 0 0 0 0

4982 -0.69 -219.0 654.5 -8.4 444 4984 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1962 3708 0 0 0 0 0 0

5000 end dive: TARGET_DEPTH_EXCEEDED

state 5000 begin apogee

5007 -0.20 0.0 656.1 8.2 445 5183 0.52 0.00 164.93 1.114 4 0.128 0.000 2731 2094 2838 0 0 0 0 0 0

5184 end apogee: CONTROL_FINISHED_OK

state 5184 begin climb

5186 0.69 219.0 659.3 0.0 453 5370 0.80 2.17 174.90 1.066 4 0.083 0.037 3024 3444 1946 0 0 0 0 0 0

5573 0.69 219.0 611.7 15.6 470 5580 0.00 2.03 0.00 0.000 6 0.000 0.020 3032 2095 1938 0 0 0 0 0 0

5889 0.69 219.0 565.1 15.2 486 5893 0.00 2.08 0.00 0.000 4 0.000 0.035 3032 3452 1936 0 0 0 0 0 0

6087 0.69 219.0 533.5 15.5 495 6091 0.00 2.05 0.00 0.000 6 0.000 0.020 3042 2050 1935 0 0 0 0 0 0

6413 0.69 219.0 482.0 16.3 515 6418 0.00 2.03 0.00 0.000 4 0.000 0.031 3052 692 1934 0 0 0 0 0 0

6507 0.69 219.0 466.9 15.1 523 6514 0.00 1.90 0.00 0.000 6 0.000 0.021 3052 1970 1934 0 0 0 0 0 0

6833 0.69 219.0 420.3 13.7 554 6837 0.00 2.25 0.00 0.000 4 0.000 0.036 3052 3447 1933 0 0 0 0 0 0

6951 0.69 219.0 401.5 16.5 564 6959 0.12 2.03 0.00 0.000 6 0.170 0.020 3029 2041 1932 0 0 0 0 0 0

7276 0.69 219.0 356.8 13.2 595 7280 0.00 1.95 0.00 0.000 4 0.000 0.032 3038 698 1932 0 0 0 0 0 0

7447 0.69 219.0 333.5 13.7 610 7451 0.00 1.83 0.00 0.000 6 0.000 0.021 3038 1971 1931 0 0 0 0 0 0

7780 0.69 219.0 288.6 12.7 641 7784 0.00 2.22 0.00 0.000 4 0.000 0.036 3037 3456 1931 0 0 0 0 0 0

7984 0.69 219.0 258.2 15.7 658 7992 0.00 2.05 0.00 0.000 6 0.000 0.020 3047 2045 1930 0 0 0 0 0 0

8313 0.69 219.0 211.9 14.0 689 8319 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2044 1930 0 0 0 0 0 0

8637 0.71 233.5 168.1 11.3 742 8653 0.00 2.20 10.48 0.731 4 0.000 0.034 3047 3461 1886 0 0 0 0 0 0

8896 0.72 243.3 141.2 11.4 789 8912 0.00 1.95 9.43 0.692 6 0.000 0.019 3054 2110 1847 0 0 0 0 0 0

8981 0.76 272.1 132.1 10.7 803 9013 0.00 0.00 24.10 0.734 6 0.000 0.000 3054 2110 1729 0 0 0 0 0 0

9078 0.83 325.7 122.1 9.9 819 9123 0.00 0.00 42.88 0.721 6 0.000 0.000 3054 2110 1510 0 0 0 0 0 0

9195 0.95 425.1 112.7 8.2 837 9281 0.15 0.00 78.32 0.698 6 0.081 0.000 3119 2109 1105 0 0 0 0 0 0

9350 0.95 425.1 90.1 15.4 860 9359 0.00 2.15 0.00 0.000 4 0.000 0.030 3127 702 1102 0 0 0 0 0 0

9388 0.95 425.1 84.4 15.2 866 9396 0.00 2.10 0.00 0.000 6 0.000 0.020 3127 2096 1102 0 0 0 0 0 0

9462 0.95 425.1 73.5 14.8 879 9470 0.00 2.12 0.00 0.000 4 0.000 0.029 3136 703 1101 0 0 0 0 0 0

9551 0.97 439.0 62.0 11.3 894 9567 0.00 1.95 11.60 0.599 6 0.000 0.019 3136 2018 1049 0 0 0 0 0 0

9636 1.03 494.9 53.8 9.8 908 9693 0.00 2.03 45.33 0.631 4 0.000 0.029 3143 715 819 0 0 0 0 0 0

9722 1.10 545.2 45.0 10.0 920 9767 0.00 1.83 38.70 0.610 6 0.000 0.018 3142 1946 615 0 0 0 0 0 0

9836 1.14 581.4 33.4 10.5 938 9867 0.00 0.00 22.92 0.585 6 0.000 0.000 3142 1946 490 0 0 0 0 0 0

9932 1.22 644.7 23.3 9.5 954 9940 0.15 0.00 0.00 0.000 6 0.079 0.000 3211 1946 488 0 0 0 0 0 0

10006 1.22 644.7 12.4 15.7 967 10014 0.00 2.30 0.00 0.000 4 0.000 0.032 3211 3459 487 0 0 0 0 0 0

10034 1.22 644.7 7.6 18.0 971 10043 0.00 2.25 0.00 0.000 6 0.000 0.018 3221 1945 487 0 0 0 0 0 0

10060 end climb: SURFACE_DEPTH_REACHED

state 10060 begin surface coast

10081 end surface coast: CONTROL_FINISHED_OK

state 10081 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	209	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	90	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	65	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	280	UPLOAD_DIVES_MAX	-1	C_VBD	2839	DEVICE3	35
T_MISSION	340	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	-56649.902	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	225	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	250711,203906,1840.027,12216.560,34,1.0,34,-2.1	TGT_NAME	S2
_CALLS	1	TGT_LATLONG	2015.000,12420.000
_XMS_NAKs	1	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.013,-0.305
_SM_DEPTHo	1.58	KALMAN_X	-1531.9,-192.4,226.3,5724.7,67.3
_SM_ANGLEo	-65.5	KALMAN_Y	11735.9,46.7,-129.6,-54154.7,2747.8
GPS2	250711,204808,1840.228,12216.396,10,1.4,10,-2.1	MHEAD_RNG_PITCHd_Wd	97.8,277364,-17.0,-11.786
SPEED_LIMITS	0.204,0.330	D_GRID	655

FINISH	1.0,1.021086	_10V_AH	10.2,34.660
SM_CCo	10158,0.00,0.000,0,0,485,577.19	FG_AHR_24Vo	0.000
SM_GC	1.60,8.02,0.00,0.00,0.035,0.000,0.000,122,1942,485,-8.30,1.89,577.19,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1830.49,12216.24,250711,171732	MEM	324100
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	56813,978
HUMID	39.17	CAP_FILE_SIZE	126140,0
INTERNAL_PRESSURE	9.25817	CFSIZE	260165632,122130432
TCM_TEMP	27.40	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	17	CURRENT	0.351,308.0,1
_24V_AH	24.1,36.007	GPS	250711,233858,1841.345,12216.251,13,7.3,32,-2.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	231	109.55	SBE_CT	660	24	381.90
Roll_motor	90	61	135.19	AA3830	832	33	662.32
VBD_pump_during_apogee	623	1113	16738.96	WL_BB2F	1222	105	3092.63
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	63.08	nil	0	0	0.00
Iridium_during_connect	40	160	155.70	nil	0	0	0.00
Iridium_during_xfer	283	223	1525.34	nil	0	0	0.00
Transponder_ping	4	420	43.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.69
TT8	2381	19	480.93
LPSleep	4514	2	100.84
TT8_Active	618	19	124.96
TT8_Sampling	2534	39	1029.06
TT8_CF8	632	45	295.69
TT8_Kalman	0	0	0.00
Analog_circuits	1731	12	211.88
GPS_charging	0	0	0.00
Compass	2388	15	365.48
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	-0.69	-219.0	0.0	0.0	0	110	0.00	0.00	-90.93	0.000	2	0.000	0.000	108	1953	3110	0	0	0	0	0	0
113	-0.69	-219.0	6.3	-12.2	12	145	9.80	2.05	-9.75	0.000	4	0.231	0.050	2558	3277	3737	0	0	0	0	0	0
180	-0.69	-219.0	37.4	-40.2	22	188	0.00	2.03	0.00	0.000	6	0.000	0.018	2562	1872	3738	0	0	0	0	0	0
257	-0.69	-219.0	69.3	-37.4	35	265	0.00	2.03	0.00	0.000	4	0.000	0.029	2564	498	3738	0	0	0	0	0	0
444	-0.69	-219.0	121.5	-23.2	68	452	0.00	1.45	0.00	0.000	6	0.000	0.019	2559	1539	3739	0	0	0	0	0	0
522	-0.69	-219.0	137.4	-18.9	81	529	0.00	2.58	0.00	0.000	4	0.000	0.030	2546	3261	3739	0	0	0	0	0	0
625	-0.69	-219.0	156.8	-16.8	99	633	0.00	2.30	0.00	0.000	6	0.000	0.018	2545	1672	3740	0	0	0	0	0	0
702	-0.69	-219.0	170.1	-18.6	112	711	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	1672	3740	0	0	0	0	0	0
780	-0.69	-219.0	183.7	-17.4	125	788	0.00	2.40	0.00	0.000	4	0.000	0.030	2535	3273	3740	0	0	0	0	0	0
803	-0.69	-219.0	187.7	-17.6	128	811	0.10	2.08	0.00	0.000	6	0.153	0.017	2566	1790	3740	0	0	0	0	0	0
880	-0.69	-219.0	197.8	-13.2	141	888	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	1789	3741	0	0	0	0	0	0
960	-0.69	-219.0	208.4	-12.9	149	964	0.00	2.17	0.00	0.000	4	0.000	0.030	2561	3263	3741	0	0	0	0	0	0
1003	-0.69	-219.0	214.1	-12.3	152	1012	0.00	2.03	0.00	0.000	6	0.000	0.018	2561	1839	3741	0	0	0	0	0	0
1331	-0.69	-219.0	262.9	-15.8	183	1335	0.00	2.10	0.00	0.000	4	0.000	0.033	2561	3267	3740	0	0	0	0	0	0
1484	-0.69	-219.0	282.7	-10.6	196	1489	0.00	1.98	0.00	0.000	6	0.000	0.018	2561	1880	3739	0	0	0	0	0	0
1815	-0.69	-219.0	322.8	-12.0	227	1819	0.00	2.08	0.00	0.000	4	0.000	0.033	2560	3261	3736	0	0	0	0	0	0
1872	-0.69	-219.0	330.4	-12.8	232	1877	0.00	1.95	0.00	0.000	6	0.000	0.018	2560	1888	3735	0	0	0	0	0	0
2204	-0.69	-219.0	373.0	-10.9	263	2205	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	1887	3733	0	0	0	0	0	0
2523	-0.69	-219.0	411.7	-13.6	293	2524	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	1887	3730	0	0	0	0	0	0
2845	-0.69	-219.0	453.9	-13.0	323	2849	0.00	2.10	0.00	0.000	4	0.000	0.036	2561	3268	3726	0	0	0	0	0	0
2892	-0.69	-219.0	460.0	-11.4	327	2896	0.00	1.98	0.00	0.000	6	0.000	0.019	2561	1882	3726	0	0	0	0	0	0
3223	-0.69	-219.0	495.7	-10.6	358	3227	0.00	2.08	0.00	0.000	4	0.000	0.035	2561	3264	3722	0	0	0	0	0	0
3263	-0.69	-219.0	499.5	-9.6	361	3267	0.00	1.92	0.00	0.000	6	0.000	0.018	2560	1897	3722	0	0	0	0	0	0
3587	-0.69	-219.0	530.6	-9.6	377	3588	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	1896	3719	0	0	0	0	0	0
3894	-0.69	-219.0	558.0	-9.0	392	3898	0.00	2.03	0.00	0.000	4	0.000	0.035	2560	3260	3717	0	0	0	0	0	0
3990	-0.69	-219.0	565.4	-7.3	396	3993	0.00	1.85	0.00	0.000	6	0.000	0.019	2560	1950	3716	0	0	0	0	0	0
4319	-0.69	-219.0	594.8	-9.6	412	4323	0.00	2.00	0.00	0.000	4	0.000	0.036	2560	3259	3713	0	0	0	0	0	0
4351	-0.69	-219.0	598.0	-9.3	413	4355	0.00	1.80	0.00	0.000	6	0.000	0.019	2560	1963	3713	0	0	0	0	0	0
4675	-0.69	-219.0	627.1	-9.1	429	4676	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	1962	3710	0	0	0	0	0	0
4982	-0.69	-219.0	654.5	-8.4	444	4984	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	1962	3708	0	0	0	0	0	0
5000	end dive: TARGET_DEPTH_EXCEEDED
state	5000	begin apogee
5007	-0.20	0.0	656.1	8.2	445	5183	0.52	0.00	164.93	1.114	4	0.128	0.000	2731	2094	2838	0	0	0	0	0	0
5184	end apogee: CONTROL_FINISHED_OK
state	5184	begin climb
5186	0.69	219.0	659.3	0.0	453	5370	0.80	2.17	174.90	1.066	4	0.083	0.037	3024	3444	1946	0	0	0	0	0	0
5573	0.69	219.0	611.7	15.6	470	5580	0.00	2.03	0.00	0.000	6	0.000	0.020	3032	2095	1938	0	0	0	0	0	0
5889	0.69	219.0	565.1	15.2	486	5893	0.00	2.08	0.00	0.000	4	0.000	0.035	3032	3452	1936	0	0	0	0	0	0
6087	0.69	219.0	533.5	15.5	495	6091	0.00	2.05	0.00	0.000	6	0.000	0.020	3042	2050	1935	0	0	0	0	0	0
6413	0.69	219.0	482.0	16.3	515	6418	0.00	2.03	0.00	0.000	4	0.000	0.031	3052	692	1934	0	0	0	0	0	0
6507	0.69	219.0	466.9	15.1	523	6514	0.00	1.90	0.00	0.000	6	0.000	0.021	3052	1970	1934	0	0	0	0	0	0
6833	0.69	219.0	420.3	13.7	554	6837	0.00	2.25	0.00	0.000	4	0.000	0.036	3052	3447	1933	0	0	0	0	0	0
6951	0.69	219.0	401.5	16.5	564	6959	0.12	2.03	0.00	0.000	6	0.170	0.020	3029	2041	1932	0	0	0	0	0	0
7276	0.69	219.0	356.8	13.2	595	7280	0.00	1.95	0.00	0.000	4	0.000	0.032	3038	698	1932	0	0	0	0	0	0
7447	0.69	219.0	333.5	13.7	610	7451	0.00	1.83	0.00	0.000	6	0.000	0.021	3038	1971	1931	0	0	0	0	0	0
7780	0.69	219.0	288.6	12.7	641	7784	0.00	2.22	0.00	0.000	4	0.000	0.036	3037	3456	1931	0	0	0	0	0	0
7984	0.69	219.0	258.2	15.7	658	7992	0.00	2.05	0.00	0.000	6	0.000	0.020	3047	2045	1930	0	0	0	0	0	0
8313	0.69	219.0	211.9	14.0	689	8319	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2044	1930	0	0	0	0	0	0
8637	0.71	233.5	168.1	11.3	742	8653	0.00	2.20	10.48	0.731	4	0.000	0.034	3047	3461	1886	0	0	0	0	0	0
8896	0.72	243.3	141.2	11.4	789	8912	0.00	1.95	9.43	0.692	6	0.000	0.019	3054	2110	1847	0	0	0	0	0	0
8981	0.76	272.1	132.1	10.7	803	9013	0.00	0.00	24.10	0.734	6	0.000	0.000	3054	2110	1729	0	0	0	0	0	0
9078	0.83	325.7	122.1	9.9	819	9123	0.00	0.00	42.88	0.721	6	0.000	0.000	3054	2110	1510	0	0	0	0	0	0
9195	0.95	425.1	112.7	8.2	837	9281	0.15	0.00	78.32	0.698	6	0.081	0.000	3119	2109	1105	0	0	0	0	0	0
9350	0.95	425.1	90.1	15.4	860	9359	0.00	2.15	0.00	0.000	4	0.000	0.030	3127	702	1102	0	0	0	0	0	0
9388	0.95	425.1	84.4	15.2	866	9396	0.00	2.10	0.00	0.000	6	0.000	0.020	3127	2096	1102	0	0	0	0	0	0
9462	0.95	425.1	73.5	14.8	879	9470	0.00	2.12	0.00	0.000	4	0.000	0.029	3136	703	1101	0	0	0	0	0	0
9551	0.97	439.0	62.0	11.3	894	9567	0.00	1.95	11.60	0.599	6	0.000	0.019	3136	2018	1049	0	0	0	0	0	0
9636	1.03	494.9	53.8	9.8	908	9693	0.00	2.03	45.33	0.631	4	0.000	0.029	3143	715	819	0	0	0	0	0	0
9722	1.10	545.2	45.0	10.0	920	9767	0.00	1.83	38.70	0.610	6	0.000	0.018	3142	1946	615	0	0	0	0	0	0
9836	1.14	581.4	33.4	10.5	938	9867	0.00	0.00	22.92	0.585	6	0.000	0.000	3142	1946	490	0	0	0	0	0	0
9932	1.22	644.7	23.3	9.5	954	9940	0.15	0.00	0.00	0.000	6	0.079	0.000	3211	1946	488	0	0	0	0	0	0
10006	1.22	644.7	12.4	15.7	967	10014	0.00	2.30	0.00	0.000	4	0.000	0.032	3211	3459	487	0	0	0	0	0	0
10034	1.22	644.7	7.6	18.0	971	10043	0.00	2.25	0.00	0.000	6	0.000	0.018	3221	1945	487	0	0	0	0	0	0
10060	end climb: SURFACE_DEPTH_REACHED
state	10060	begin surface coast
10081	end surface coast: CONTROL_FINISHED_OK
state	10081	begin surface