Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 135 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MAX 3764 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 16 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 135 ESCAPE_HEADING 0 C_ROLL_DIVE 2100 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1010 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 106 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 564.9259 R_STBD_OVSHOOT 63 XPDR_VALID 0

D_BOOST 120 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 4 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 460 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2763 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 280 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 310 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 5 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -8 T_GPS_CHARGE -975119.25 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 150 MINV_24V 22 SIM_W 0

MAX_BUOY 250 PITCH_MAX 3944 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3060 FG_AHR_10V 0 SEABIRD_T_G 0.0043557216

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062581268

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PHONE_SUPPLY -2 SEABIRD_T_I 2.3904395e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -15.330984 SEABIRD_T_J 2.614597e-06

MASS 52152 PITCH_GAIN 22 PRESSURE_SLOPE 0.0001158971 SEABIRD_C_G -10.14994

MASS_COMP 0 PITCH_TIMEOUT 19 AD7714Ch0Gain 128 SEABIRD_C_H 1.1477706

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0022030354

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00024289287

KALMAN_USE 2 PITCH_ADJ_GAIN 0.0099999998 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 187 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_T_J 2.614597e-06

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 564.9259

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.0001158971 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -15.330984 T_BOOST 4

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 9 T_DIVE 280

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -975119.25

COMPASS2_DEVICE -1 ID 167 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 310

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_RSLEEP 2

C_PITCH 3060 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2300 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 2100 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2763 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3764 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52152 ROLL_MAXERRORS 2 USE_BATHY -8

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 187 USE_ICE 0

DEVICE1 -1 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_PORT_OVSHOOT 106 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 63 VBD_DBAND 2

DEVICE4 -1 MISSION 16 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 460

DIVE 135 NOCOMM_ACTION 163 SEABIRD_C_G -10.14994 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1010 N_DIVES 0 SEABIRD_C_H 1.1477706 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_I -0.0022030354 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00024289287 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0043557216 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062581268 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_I 2.3904395e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 080713,055059,2121.766,12058.893,40,1.0,40,-3.0 TGT_NAME T5

_CALLS 1 TGT_LATLONG 2112.000,12148.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080713,055736,2121.914,12058.998,7,1.0,7,-3.0 MHEAD_RNG_PITCHd_Wd 150.2,86580,-16.1,-11.786,-18.84,3159

SPEED_LIMITS 0.204,0.345 D_GRID 1304

Post-dive calculations and measurements:

SM_CCo 8578,539.45,1.594,31,0,459,564.93 FG_AHR_24Vo 0.000

SM_GC 1.83,8.43,0.00,0.00,0.042,0.000,0.000,143,2309,435,-9.06,0.25,571.06,0,0,0,0,0,0,26.58,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2111.01,12053.86,080713,020220 MEM 322896

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 13438,371

HUMID 58.89 CAP_FILE_SIZE 120904,0

INTERNAL_PRESSURE 9.49255 CFSIZE 260034560,240087040

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,32,2,0

XPDR_PINGS 22 EOP_CODE ABORT_DEPTH_EXCEEDED

SC_FREEKB 7665216 RECOV_CODE EXCEEDED_ABORT_DEPTH

_24V_AH 23.0,17.019 GPS 080713,094559,2122.845,12102.494,42,1.1,42,-3.0

_10V_AH 10.4,10.709

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 244 122.36 nil 0 0 0.00

Roll_motor 78 50 91.65 nil 0 0 0.00

VBD_pump_during_apogee 244 1685 9463.69 nil 0 0 0.00

VBD_pump_during_surface 539 1594 19780.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8539 7 1535.04

Iridium_during_xfer 224 117 607.36 nil 0 0 0.00

Transponder_ping 5 420 53.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 50 4.11

TT8 1416 13 205.66

LPSleep 9915 2 225.84

TT8_Active 1072 13 155.70

TT8_Sampling 1204 40 503.01

TT8_CF8 374 47 185.65

TT8_Kalman 0 0 0.00

Analog_circuits 1962 16 326.49

GPS_charging 0 0 0.00

Compass 948 5 49.33

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.10 -243.3 134 2058 396 537 0.0 0.0 0 130 0.00 0.00 -102.22 0.000 16386 0.000 0.000 135 2059 2976 2951 3002 0 0 0 0 0 0 28.83 28.83 28.83

139 -1.10 -243.3 134 2059 2951 3003 3.2 -4.1 18 171 10.30 1.92 -13.70 0.000 18948 0.244 0.042 2698 736 3754 3751 3758 0 0 0 0 0 0 26.00 26.34 26.60

216 -0.79 -243.3 2698 736 3752 3760 37.3 -51.5 28 224 0.43 1.92 0.00 0.000 3078 0.210 0.015 2798 2122 3755 3751 3760 0 0 0 0 0 0 26.10 26.42 28.83

524 -0.65 -243.3 2798 2122 3752 3760 138.4 -28.4 45 530 0.15 1.95 0.00 0.000 2308 0.178 0.026 2836 3481 3755 3752 3759 0 0 0 0 0 0 26.34 26.51 28.83

539 -0.51 -243.3 2836 3480 3752 3760 138.4 -28.4 45 545 0.20 1.90 0.00 0.000 3078 0.140 0.015 2894 2107 3756 3752 3760 0 0 0 0 0 0 26.37 26.56 28.83

855 -0.51 -243.3 2894 2106 3753 3760 181.4 -11.3 61 860 0.00 1.98 0.00 0.000 516 0.000 0.028 2894 721 3756 3753 3760 0 0 0 0 0 0 28.83 26.58 28.83

906 -0.52 -243.3 2894 720 3753 3760 185.3 -9.4 63 912 0.00 1.90 0.00 0.000 1030 0.000 0.016 2889 2095 3756 3753 3760 0 0 0 0 0 0 28.83 26.63 28.83

1228 -0.54 -243.3 2889 2096 3752 3760 216.0 -9.1 79 1233 0.00 2.00 0.00 0.000 260 0.000 0.031 2888 3479 3756 3753 3760 0 0 0 0 0 0 28.83 26.61 28.83

1278 -0.56 -243.3 1792 3477 3748 3758 220.9 -9.8 81 1283 0.00 1.90 0.00 0.000 1030 0.000 0.015 2888 2087 3756 3753 3759 0 0 0 0 0 0 28.83 26.68 28.83

1599 -0.58 -243.3 2888 2087 3754 3759 258.4 -10.6 97 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 2087 3756 3753 3759 0 0 0 0 0 0 28.83 28.83 28.83

1902 -0.63 -243.3 2887 2087 3753 3757 280.4 -7.4 112 1908 0.00 1.92 0.00 0.000 516 0.000 0.028 2888 728 3755 3753 3757 0 0 0 0 0 0 28.83 26.65 28.83

1977 -0.67 -243.3 2888 728 3753 3756 285.0 -6.9 115 1983 0.12 1.92 0.00 0.000 5126 0.077 0.020 2805 2093 3754 3753 3756 0 0 0 0 0 0 26.65 26.68 28.83

2293 -0.64 -243.3 2805 2093 3753 3752 330.5 -15.3 131 2299 0.12 2.03 0.00 0.000 2308 0.159 0.031 2838 3492 3752 3753 3752 0 0 0 0 0 0 26.53 26.65 28.83

2354 -0.63 -243.3 2838 3492 3753 3752 335.8 -13.4 133 2360 0.00 1.92 0.00 0.000 1030 0.000 0.016 2838 2107 3752 3753 3751 0 0 0 0 0 0 28.83 26.72 28.83

2659 -0.63 -243.3 2838 2105 3753 3748 369.7 -12.3 149 2664 0.00 1.95 0.00 0.000 516 0.000 0.028 2838 734 3750 3753 3748 0 0 0 0 0 0 28.83 26.67 28.83

2707 -0.63 -243.3 1792 733 3748 3746 375.4 -12.9 151 2712 0.00 1.92 0.00 0.000 1030 0.000 0.018 2834 2104 3750 3753 3748 0 0 0 0 0 0 28.83 26.69 28.83

3027 -0.63 -243.3 2834 2103 3753 3742 416.3 -13.2 167 3032 0.00 2.03 0.00 0.000 260 0.000 0.034 2834 3497 3747 3753 3742 0 0 0 0 0 0 28.83 26.65 28.83

3083 -0.64 -243.3 2834 3497 3753 3741 422.3 -12.7 169 3088 0.00 1.95 0.00 0.000 1030 0.000 0.017 2834 2090 3747 3753 3741 0 0 0 0 0 0 28.83 26.72 28.83

3398 -0.65 -243.3 2834 2089 3753 3736 467.0 -12.4 185 3404 0.00 1.95 -0.08 0.000 16900 0.000 0.044 2834 730 3774 3781 3767 0 0 0 0 0 0 28.83 26.67 26.41

3481 -0.66 -243.3 2834 731 3782 3767 475.9 -13.2 188 3488 0.00 1.95 0.00 0.000 1030 0.000 0.021 2834 2103 3773 3781 3766 0 0 0 0 0 0 28.83 26.69 28.83

3785 -0.68 -243.3 2834 2103 3781 3762 509.2 -10.7 204 3790 0.00 2.05 0.00 0.000 260 0.000 0.035 2832 3499 3771 3781 3761 0 0 0 0 0 0 28.83 26.65 28.83

3825 -0.70 -243.3 2831 3498 3781 3761 512.3 -11.1 205 3832 0.00 1.95 0.00 0.000 1030 0.000 0.017 2832 2093 3771 3781 3761 0 0 0 0 0 0 28.83 26.72 28.83

4130 -0.71 -243.3 2832 2092 3781 3757 552.0 -12.9 221 4135 0.00 1.95 0.00 0.000 516 0.000 0.034 2832 735 3769 3781 3757 0 0 0 0 0 0 28.83 26.65 28.83

4242 -0.73 -243.3 2832 734 3781 3755 566.4 -13.2 226 4248 0.00 1.95 0.00 0.000 1030 0.000 0.023 2831 2097 3767 3781 3754 0 0 0 0 0 0 28.83 26.68 28.83

4553 -0.75 -243.3 2829 2098 3779 3751 605.0 -12.1 241 4559 0.00 2.05 0.00 0.000 260 0.000 0.037 2830 3490 3765 3780 3751 0 0 0 0 0 0 28.83 26.64 28.83

4619 -0.79 -243.3 2830 3490 3779 3750 612.4 -11.7 243 4626 0.00 1.98 0.00 0.000 1030 0.000 0.018 2829 2090 3764 3779 3750 0 0 0 0 0 0 28.83 26.72 28.83

4960 -0.81 -243.3 2829 2090 3779 3747 650.4 -10.5 254 4966 0.00 1.95 0.00 0.000 516 0.000 0.031 2830 735 3762 3779 3746 0 0 0 0 0 0 28.83 26.65 28.83

5005 -0.84 -243.3 2830 734 3779 3746 654.6 -10.5 255 5012 0.12 1.95 0.00 0.000 5126 0.081 0.021 2762 2107 3762 3779 3746 0 0 0 0 0 0 26.65 26.68 28.83

5335 -0.80 -243.3 2762 2107 3778 3741 701.8 -14.0 266 5337 0.15 0.00 0.00 0.000 2054 0.155 0.000 2803 2107 3759 3778 3741 0 0 0 0 0 0 26.50 28.83 28.83

5632 -0.80 -243.3 2802 2107 3779 3738 727.1 -7.4 276 5638 0.00 2.03 0.00 0.000 516 0.000 0.030 2802 726 3758 3779 3738 0 0 0 0 0 0 28.83 26.65 28.83

5713 -0.80 -243.3 2802 726 3778 3738 732.3 -7.8 278 5718 0.00 1.95 0.00 0.000 1030 0.000 0.020 2797 2098 3758 3779 3737 0 0 0 0 0 0 28.83 26.69 28.83

6035 -0.80 -243.3 2797 2098 3777 3735 761.8 -9.2 289 6041 0.00 2.00 0.00 0.000 516 0.000 0.030 2797 738 3754 3775 3734 0 0 0 0 0 0 28.83 26.65 28.83

6080 -0.80 -243.3 2797 737 3775 3735 765.3 -8.9 290 6087 0.00 1.98 0.00 0.000 1030 0.000 0.021 2793 2106 3755 3775 3735 0 0 0 0 0 0 28.83 26.67 28.83

6410 -0.80 -243.3 2793 2106 3771 3733 792.8 -8.4 301 6415 0.00 2.00 0.00 0.000 516 0.000 0.030 2793 735 3752 3772 3733 0 0 0 0 0 0 28.83 26.65 28.83

6439 -0.80 -243.3 2792 735 3772 3733 792.8 -8.4 301 6445 0.00 1.98 0.00 0.000 1030 0.000 0.021 2793 2111 3752 3772 3733 0 0 0 0 0 0 28.83 26.67 28.83

6745 -0.80 -243.3 2792 2111 3770 3731 820.7 -7.9 312 6750 0.00 2.00 0.00 0.000 516 0.000 0.030 2793 737 3750 3770 3731 0 0 0 0 0 0 28.83 26.65 28.83

6794 -0.80 -243.3 2792 736 3770 3730 823.9 -8.0 313 6799 0.00 1.95 0.00 0.000 1030 0.000 0.021 2793 2100 3750 3770 3731 0 0 0 0 0 0 28.83 26.67 28.83

7117 -0.80 -243.3 2792 2099 3768 3729 849.9 -7.5 324 7123 0.00 2.00 0.00 0.000 516 0.000 0.039 2793 736 3749 3769 3729 0 0 0 0 0 0 28.83 26.15 28.83

7157 -0.80 -243.3 2792 735 3768 3728 853.3 -7.9 325 7163 0.00 1.98 0.00 0.000 1030 0.000 0.022 2793 2100 3748 3768 3729 0 0 0 0 0 0 28.83 26.67 28.83

7490 -0.80 -243.3 2792 2100 3767 3726 885.5 -10.9 336 7495 0.00 2.00 0.00 0.000 516 0.000 0.031 2793 732 3747 3767 3727 0 0 0 0 0 0 28.83 26.64 28.83

7631 -0.81 -243.3 2792 732 3766 3726 901.3 -12.4 340 7636 0.00 1.98 0.00 0.000 1030 0.000 0.022 2793 2105 3746 3766 3726 0 0 0 0 0 0 28.83 26.67 28.83

7954 -0.82 -243.3 2792 2104 3765 3723 945.9 -13.4 351 7959 0.00 2.03 0.00 0.000 516 0.000 0.031 2792 731 3744 3765 3723 0 0 0 0 0 0 28.83 26.64 28.83

8023 -0.84 -243.3 2792 732 3764 3723 955.1 -13.4 353 8028 0.00 1.98 0.00 0.000 1030 0.000 0.022 2793 2102 3743 3764 3722 0 0 0 0 0 0 28.83 26.66 28.83

8289 end dive: TARGET_DEPTH_EXCEEDED

state 8290 begin apogee

8298 -0.23 0.0 2792 2309 3762 3721 990.8 -13.6 362 8516 0.57 0.00 206.95 1.685 10246 0.120 0.000 2984 2308 2762 2837 2688 0 0 0 0 1 0 26.46 28.83 23.56

8518 end apogee: CONTROL_FINISHED_OK

state 8518 begin climb

8522 1.10 243.3 2984 2308 2836 2693 1008.1 0.0 369 8564 1.20 0.00 37.20 1.191 10498 0.050 0.000 3415 2308 2628 2700 2556 0 0 0 0 0 0 24.79 28.83 28.83

8565 end climb: ABORT_DEPTH_EXCEEDED

ID	167	HD_C	9.8500004e-06	ROLL_MAX	3764	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	16	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	135	ESCAPE_HEADING	0	C_ROLL_DIVE	2100	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1010	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	106	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	564.9259	R_STBD_OVSHOOT	63	XPDR_VALID	0
D_BOOST	120	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	4	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	460	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2763	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	280	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	310	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	5	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-8	T_GPS_CHARGE	-975119.25	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	150	MINV_24V	22	SIM_W	0
MAX_BUOY	250	PITCH_MAX	3944	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3060	FG_AHR_10V	0	SEABIRD_T_G	0.0043557216
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062581268
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PHONE_SUPPLY	-2	SEABIRD_T_I	2.3904395e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-15.330984	SEABIRD_T_J	2.614597e-06
MASS	52152	PITCH_GAIN	22	PRESSURE_SLOPE	0.0001158971	SEABIRD_C_G	-10.14994
MASS_COMP	0	PITCH_TIMEOUT	19	AD7714Ch0Gain	128	SEABIRD_C_H	1.1477706
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0022030354
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00024289287
KALMAN_USE	2	PITCH_ADJ_GAIN	0.0099999998	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	187	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	080713,055059,2121.766,12058.893,40,1.0,40,-3.0	TGT_NAME	T5
_CALLS	1	TGT_LATLONG	2112.000,12148.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080713,055736,2121.914,12058.998,7,1.0,7,-3.0	MHEAD_RNG_PITCHd_Wd	150.2,86580,-16.1,-11.786,-18.84,3159
SPEED_LIMITS	0.204,0.345	D_GRID	1304

SM_CCo	8578,539.45,1.594,31,0,459,564.93	FG_AHR_24Vo	0.000
SM_GC	1.83,8.43,0.00,0.00,0.042,0.000,0.000,143,2309,435,-9.06,0.25,571.06,0,0,0,0,0,0,26.58,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2111.01,12053.86,080713,020220	MEM	322896
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	13438,371
HUMID	58.89	CAP_FILE_SIZE	120904,0
INTERNAL_PRESSURE	9.49255	CFSIZE	260034560,240087040
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,32,2,0
XPDR_PINGS	22	EOP_CODE	ABORT_DEPTH_EXCEEDED
SC_FREEKB	7665216	RECOV_CODE	EXCEEDED_ABORT_DEPTH
_24V_AH	23.0,17.019	GPS	080713,094559,2122.845,12102.494,42,1.1,42,-3.0
_10V_AH	10.4,10.709

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	244	122.36	nil	0	0	0.00
Roll_motor	78	50	91.65	nil	0	0	0.00
VBD_pump_during_apogee	244	1685	9463.69	nil	0	0	0.00
VBD_pump_during_surface	539	1594	19780.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8539	7	1535.04
Iridium_during_xfer	224	117	607.36	nil	0	0	0.00
Transponder_ping	5	420	53.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	50	4.11
TT8	1416	13	205.66
LPSleep	9915	2	225.84
TT8_Active	1072	13	155.70
TT8_Sampling	1204	40	503.01
TT8_CF8	374	47	185.65
TT8_Kalman	0	0	0.00
Analog_circuits	1962	16	326.49
GPS_charging	0	0	0.00
Compass	948	5	49.33
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.10	-243.3	134	2058	396	537	0.0	0.0	0	130	0.00	0.00	-102.22	0.000	16386	0.000	0.000	135	2059	2976	2951	3002	0	0	0	0	0	0	28.83	28.83	28.83
139	-1.10	-243.3	134	2059	2951	3003	3.2	-4.1	18	171	10.30	1.92	-13.70	0.000	18948	0.244	0.042	2698	736	3754	3751	3758	0	0	0	0	0	0	26.00	26.34	26.60
216	-0.79	-243.3	2698	736	3752	3760	37.3	-51.5	28	224	0.43	1.92	0.00	0.000	3078	0.210	0.015	2798	2122	3755	3751	3760	0	0	0	0	0	0	26.10	26.42	28.83
524	-0.65	-243.3	2798	2122	3752	3760	138.4	-28.4	45	530	0.15	1.95	0.00	0.000	2308	0.178	0.026	2836	3481	3755	3752	3759	0	0	0	0	0	0	26.34	26.51	28.83
539	-0.51	-243.3	2836	3480	3752	3760	138.4	-28.4	45	545	0.20	1.90	0.00	0.000	3078	0.140	0.015	2894	2107	3756	3752	3760	0	0	0	0	0	0	26.37	26.56	28.83
855	-0.51	-243.3	2894	2106	3753	3760	181.4	-11.3	61	860	0.00	1.98	0.00	0.000	516	0.000	0.028	2894	721	3756	3753	3760	0	0	0	0	0	0	28.83	26.58	28.83
906	-0.52	-243.3	2894	720	3753	3760	185.3	-9.4	63	912	0.00	1.90	0.00	0.000	1030	0.000	0.016	2889	2095	3756	3753	3760	0	0	0	0	0	0	28.83	26.63	28.83
1228	-0.54	-243.3	2889	2096	3752	3760	216.0	-9.1	79	1233	0.00	2.00	0.00	0.000	260	0.000	0.031	2888	3479	3756	3753	3760	0	0	0	0	0	0	28.83	26.61	28.83
1278	-0.56	-243.3	1792	3477	3748	3758	220.9	-9.8	81	1283	0.00	1.90	0.00	0.000	1030	0.000	0.015	2888	2087	3756	3753	3759	0	0	0	0	0	0	28.83	26.68	28.83
1599	-0.58	-243.3	2888	2087	3754	3759	258.4	-10.6	97	1600	0.00	0.00	0.00	0.000	6	0.000	0.000	2888	2087	3756	3753	3759	0	0	0	0	0	0	28.83	28.83	28.83
1902	-0.63	-243.3	2887	2087	3753	3757	280.4	-7.4	112	1908	0.00	1.92	0.00	0.000	516	0.000	0.028	2888	728	3755	3753	3757	0	0	0	0	0	0	28.83	26.65	28.83
1977	-0.67	-243.3	2888	728	3753	3756	285.0	-6.9	115	1983	0.12	1.92	0.00	0.000	5126	0.077	0.020	2805	2093	3754	3753	3756	0	0	0	0	0	0	26.65	26.68	28.83
2293	-0.64	-243.3	2805	2093	3753	3752	330.5	-15.3	131	2299	0.12	2.03	0.00	0.000	2308	0.159	0.031	2838	3492	3752	3753	3752	0	0	0	0	0	0	26.53	26.65	28.83
2354	-0.63	-243.3	2838	3492	3753	3752	335.8	-13.4	133	2360	0.00	1.92	0.00	0.000	1030	0.000	0.016	2838	2107	3752	3753	3751	0	0	0	0	0	0	28.83	26.72	28.83
2659	-0.63	-243.3	2838	2105	3753	3748	369.7	-12.3	149	2664	0.00	1.95	0.00	0.000	516	0.000	0.028	2838	734	3750	3753	3748	0	0	0	0	0	0	28.83	26.67	28.83
2707	-0.63	-243.3	1792	733	3748	3746	375.4	-12.9	151	2712	0.00	1.92	0.00	0.000	1030	0.000	0.018	2834	2104	3750	3753	3748	0	0	0	0	0	0	28.83	26.69	28.83
3027	-0.63	-243.3	2834	2103	3753	3742	416.3	-13.2	167	3032	0.00	2.03	0.00	0.000	260	0.000	0.034	2834	3497	3747	3753	3742	0	0	0	0	0	0	28.83	26.65	28.83
3083	-0.64	-243.3	2834	3497	3753	3741	422.3	-12.7	169	3088	0.00	1.95	0.00	0.000	1030	0.000	0.017	2834	2090	3747	3753	3741	0	0	0	0	0	0	28.83	26.72	28.83
3398	-0.65	-243.3	2834	2089	3753	3736	467.0	-12.4	185	3404	0.00	1.95	-0.08	0.000	16900	0.000	0.044	2834	730	3774	3781	3767	0	0	0	0	0	0	28.83	26.67	26.41
3481	-0.66	-243.3	2834	731	3782	3767	475.9	-13.2	188	3488	0.00	1.95	0.00	0.000	1030	0.000	0.021	2834	2103	3773	3781	3766	0	0	0	0	0	0	28.83	26.69	28.83
3785	-0.68	-243.3	2834	2103	3781	3762	509.2	-10.7	204	3790	0.00	2.05	0.00	0.000	260	0.000	0.035	2832	3499	3771	3781	3761	0	0	0	0	0	0	28.83	26.65	28.83
3825	-0.70	-243.3	2831	3498	3781	3761	512.3	-11.1	205	3832	0.00	1.95	0.00	0.000	1030	0.000	0.017	2832	2093	3771	3781	3761	0	0	0	0	0	0	28.83	26.72	28.83
4130	-0.71	-243.3	2832	2092	3781	3757	552.0	-12.9	221	4135	0.00	1.95	0.00	0.000	516	0.000	0.034	2832	735	3769	3781	3757	0	0	0	0	0	0	28.83	26.65	28.83
4242	-0.73	-243.3	2832	734	3781	3755	566.4	-13.2	226	4248	0.00	1.95	0.00	0.000	1030	0.000	0.023	2831	2097	3767	3781	3754	0	0	0	0	0	0	28.83	26.68	28.83
4553	-0.75	-243.3	2829	2098	3779	3751	605.0	-12.1	241	4559	0.00	2.05	0.00	0.000	260	0.000	0.037	2830	3490	3765	3780	3751	0	0	0	0	0	0	28.83	26.64	28.83
4619	-0.79	-243.3	2830	3490	3779	3750	612.4	-11.7	243	4626	0.00	1.98	0.00	0.000	1030	0.000	0.018	2829	2090	3764	3779	3750	0	0	0	0	0	0	28.83	26.72	28.83
4960	-0.81	-243.3	2829	2090	3779	3747	650.4	-10.5	254	4966	0.00	1.95	0.00	0.000	516	0.000	0.031	2830	735	3762	3779	3746	0	0	0	0	0	0	28.83	26.65	28.83
5005	-0.84	-243.3	2830	734	3779	3746	654.6	-10.5	255	5012	0.12	1.95	0.00	0.000	5126	0.081	0.021	2762	2107	3762	3779	3746	0	0	0	0	0	0	26.65	26.68	28.83
5335	-0.80	-243.3	2762	2107	3778	3741	701.8	-14.0	266	5337	0.15	0.00	0.00	0.000	2054	0.155	0.000	2803	2107	3759	3778	3741	0	0	0	0	0	0	26.50	28.83	28.83
5632	-0.80	-243.3	2802	2107	3779	3738	727.1	-7.4	276	5638	0.00	2.03	0.00	0.000	516	0.000	0.030	2802	726	3758	3779	3738	0	0	0	0	0	0	28.83	26.65	28.83
5713	-0.80	-243.3	2802	726	3778	3738	732.3	-7.8	278	5718	0.00	1.95	0.00	0.000	1030	0.000	0.020	2797	2098	3758	3779	3737	0	0	0	0	0	0	28.83	26.69	28.83
6035	-0.80	-243.3	2797	2098	3777	3735	761.8	-9.2	289	6041	0.00	2.00	0.00	0.000	516	0.000	0.030	2797	738	3754	3775	3734	0	0	0	0	0	0	28.83	26.65	28.83
6080	-0.80	-243.3	2797	737	3775	3735	765.3	-8.9	290	6087	0.00	1.98	0.00	0.000	1030	0.000	0.021	2793	2106	3755	3775	3735	0	0	0	0	0	0	28.83	26.67	28.83
6410	-0.80	-243.3	2793	2106	3771	3733	792.8	-8.4	301	6415	0.00	2.00	0.00	0.000	516	0.000	0.030	2793	735	3752	3772	3733	0	0	0	0	0	0	28.83	26.65	28.83
6439	-0.80	-243.3	2792	735	3772	3733	792.8	-8.4	301	6445	0.00	1.98	0.00	0.000	1030	0.000	0.021	2793	2111	3752	3772	3733	0	0	0	0	0	0	28.83	26.67	28.83
6745	-0.80	-243.3	2792	2111	3770	3731	820.7	-7.9	312	6750	0.00	2.00	0.00	0.000	516	0.000	0.030	2793	737	3750	3770	3731	0	0	0	0	0	0	28.83	26.65	28.83
6794	-0.80	-243.3	2792	736	3770	3730	823.9	-8.0	313	6799	0.00	1.95	0.00	0.000	1030	0.000	0.021	2793	2100	3750	3770	3731	0	0	0	0	0	0	28.83	26.67	28.83
7117	-0.80	-243.3	2792	2099	3768	3729	849.9	-7.5	324	7123	0.00	2.00	0.00	0.000	516	0.000	0.039	2793	736	3749	3769	3729	0	0	0	0	0	0	28.83	26.15	28.83
7157	-0.80	-243.3	2792	735	3768	3728	853.3	-7.9	325	7163	0.00	1.98	0.00	0.000	1030	0.000	0.022	2793	2100	3748	3768	3729	0	0	0	0	0	0	28.83	26.67	28.83
7490	-0.80	-243.3	2792	2100	3767	3726	885.5	-10.9	336	7495	0.00	2.00	0.00	0.000	516	0.000	0.031	2793	732	3747	3767	3727	0	0	0	0	0	0	28.83	26.64	28.83
7631	-0.81	-243.3	2792	732	3766	3726	901.3	-12.4	340	7636	0.00	1.98	0.00	0.000	1030	0.000	0.022	2793	2105	3746	3766	3726	0	0	0	0	0	0	28.83	26.67	28.83
7954	-0.82	-243.3	2792	2104	3765	3723	945.9	-13.4	351	7959	0.00	2.03	0.00	0.000	516	0.000	0.031	2792	731	3744	3765	3723	0	0	0	0	0	0	28.83	26.64	28.83
8023	-0.84	-243.3	2792	732	3764	3723	955.1	-13.4	353	8028	0.00	1.98	0.00	0.000	1030	0.000	0.022	2793	2102	3743	3764	3722	0	0	0	0	0	0	28.83	26.66	28.83
8289	end dive: TARGET_DEPTH_EXCEEDED
state	8290	begin apogee
8298	-0.23	0.0	2792	2309	3762	3721	990.8	-13.6	362	8516	0.57	0.00	206.95	1.685	10246	0.120	0.000	2984	2308	2762	2837	2688	0	0	0	0	1	0	26.46	28.83	23.56
8518	end apogee: CONTROL_FINISHED_OK
state	8518	begin climb
8522	1.10	243.3	2984	2308	2836	2693	1008.1	0.0	369	8564	1.20	0.00	37.20	1.191	10498	0.050	0.000	3415	2308	2628	2700	2556	0	0	0	0	0	0	24.79	28.83	28.83
8565	end climb: ABORT_DEPTH_EXCEEDED