Glider dive log

OKMC Nov12 * SG170 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 170 HD_C 8e-06 ROLL_MIN 165 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 10 HEADING 10 ROLL_MAX 3698 ALTIM_PING_DEPTH 500

DIVE 15 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3400 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3000 ALTIM_PULSE 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 3

D_ABORT 1040 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 200 SM_CC 450 R_PORT_OVSHOOT 60 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 20 N_FILEKB 8 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT -0.60000002

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 300 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 DEVICE1 -1

D_CALL 0 N_NOCOMM 2 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2769 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 330 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 350 CALL_WAIT 60 VBD_TIMEOUT 540 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00060000003 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -7 T_GPS_CHARGE -141940.44 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 100 RAFOS_DEVICE -1

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 139 FG_AHR_24V 0 SEABIRD_T_G 0.0043559377

MAX_BUOY 200 PITCH_MAX 3933 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062550703

COURSE_BIAS 0 C_PITCH 3110 PRESSURE_YINT -48.120956 SEABIRD_T_I 2.3551509e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164274 SEABIRD_T_J 2.509174e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.138787

RHO 1.0275 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1450038

MASS 51479 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015582878

NAV_MODE 0 PITCH_TIMEOUT 16 COMPASS_USE 4 SEABIRD_C_J 0.00020114503

FERRY_MAX 45 PITCH_AD_RATE 155 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0049999999 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 20 SC_XMITPROFILE 3.0

HD_B 0.0089999996 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 155 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 20 D_TGT 990 PITCH_CNV 0.003125763 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3933 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 139 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00060000003 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164274 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -48.120956 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0049999999 PROTOCOL 9 T_BOOST 0

CALL_TRIES 5 HD_B 0.0089999996 P_OVSHOOT 0.039999999 T_DIVE 330

CALL_WAIT 60 HD_C 8e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING 10 RAFOS_DEVICE -1 T_GPS 5

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -141940.44

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 170 RHO 1.0275 T_MISSION 350

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.60000002 ROLL_ADJ_GAIN 2.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 300 T_TURN 225

C_PITCH 3110 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 3000 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 3400 LOGGERDEVICE3 -1 ROLL_MAX 3698 UNCOM_BLEED 20

C_VBD 2769 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 165 USE_BATHY -7

DEEPGLIDERMB 0 MASS 51479 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 60 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 27 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 10 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_G -10.138787 VBD_MIN 460

DIVE 15 NOCOMM_ACTION 163 SEABIRD_C_H 1.1450038 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1040 N_DIVES 0 SEABIRD_C_I -0.0015582878 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_FILEKB 8 SEABIRD_C_J 0.00020114503 VBD_TIMEOUT 540

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043559377 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_H 0.00062550703 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3551509e-05 XPDR_VALID 3

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_T_J 2.509174e-06

Pre-dive calculations and measurements:

GPS1 071112,111201,2145.390,12025.933,21,1.2,21,-3.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2155.840,12027.976

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071112,111748,2145.205,12025.954,15,1.2,16,-3.1 MHEAD_RNG_PITCHd_Wd 13.1,20000,-15.6,-10.000,-17.73

SPEED_LIMITS 0.173,0.313 D_GRID 846

Post-dive calculations and measurements:

FINISH 1.3,1.014100 _24V_AH 24.1,3.337

SM_CCo 11047,0.00,0.000,0,0,913,455.03 _10V_AH 10.0,1.371

SM_GC 2.11,8.15,0.77,0.00,0.051,0.061,0.000,132,3407,913,-9.26,-0.76,455.03,0,0,0,0,0,0,26.53,26.58,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2136.49,12021.23,071112,080831 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 324588

HUMID 52.67 DATA_FILE_SIZE 20078,569

INTERNAL_PRESSURE 9.53711 CAP_FILE_SIZE 147876,0

TCM_TEMP 24.30 CFSIZE 260034560,249548800

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 600.3,123.5 GPS 071112,142337,2145.580,12026.223,39,2.0,39,-3.1

SC_FREEKB 4014368

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 248 160.28 nil 0 0 0.00

Roll_motor 44 143 152.73 nil 0 0 0.00

VBD_pump_during_apogee 528 1248 15901.70 nil 0 0 0.00

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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 10983 9 2430.12

Iridium_during_xfer 211 126 648.74 nil 0 0 0.00

Transponder_ping 1 420 10.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 30 5.27

TT8 1976 13 261.69

LPSleep 6726 2 147.31

TT8_Active 576 13 76.33

TT8_Sampling 1948 38 754.40

TT8_CF8 174 45 79.18

TT8_Kalman 0 0 0.00

Analog_circuits 1711 15 273.34

GPS_charging 0 0 0.00

Compass 1638 8 134.99

RAFOS 0 0 0.00

Transponder 9 30 2.82

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.51 -194.6 0.0 0.0 0 104 0.00 0.00 -83.70 0.000 2 0.000 0.000 137 3417 2313 0 0 0 0 0 0 28.83 28.83 28.83

107 -0.51 -194.6 3.1 -3.5 15 155 11.18 0.47 -32.75 0.000 4 0.249 0.143 2939 3698 3564 0 0 0 0 0 0 26.13 26.33 26.63

383 -0.15 -194.6 94.8 -36.6 44 389 0.38 0.40 0.00 0.000 6 0.181 0.041 3052 3410 3564 0 0 0 0 0 0 26.34 26.53 28.83

588 -0.48 -194.6 118.2 -5.3 54 594 0.25 0.45 0.00 0.000 4 0.094 0.061 2956 3694 3565 0 0 0 0 0 0 26.53 26.53 28.83

697 -0.83 -194.6 128.6 -9.9 59 702 0.28 0.45 0.00 0.000 6 0.063 0.041 2835 3367 3565 0 0 0 0 0 0 26.58 26.64 28.83

896 -0.49 -194.6 180.4 -31.2 69 902 0.35 0.52 0.00 0.000 4 0.176 0.062 2943 3695 3565 0 0 0 0 0 0 26.50 26.61 28.83

1040 -0.60 -194.6 195.6 -6.6 76 1045 0.00 0.40 0.00 0.000 6 0.000 0.041 2943 3405 3566 0 0 0 0 0 0 28.83 26.70 28.83

1244 -0.76 -194.6 207.3 -6.0 86 1246 0.22 0.00 0.00 0.000 6 0.065 0.000 2828 3405 3566 0 0 0 0 0 0 26.72 28.83 28.83

1423 -0.56 -194.6 243.2 -22.2 95 1428 0.30 0.47 0.00 0.000 4 0.170 0.063 2922 3698 3567 0 0 0 0 0 0 26.59 26.69 28.83

1581 -0.66 -194.6 258.9 -8.4 102 1587 0.00 0.40 0.00 0.000 6 0.000 0.041 2922 3403 3567 0 0 0 0 0 0 28.83 26.77 28.83

1887 -0.79 -194.6 280.2 -6.4 118 1893 0.15 2.03 0.00 0.000 4 0.083 0.024 2834 1958 3566 0 0 0 0 0 0 26.78 26.80 28.83

1950 -0.82 -194.6 287.5 -10.4 121 1956 0.00 2.28 0.00 0.000 6 0.000 0.061 2833 3395 3566 0 0 0 0 0 0 28.83 26.71 28.83

2274 -0.68 -194.6 343.3 -16.2 137 2279 0.17 0.47 0.00 0.000 4 0.186 0.066 2888 3702 3564 0 0 0 0 0 0 26.65 26.74 28.83

2506 -0.71 -194.6 363.5 -7.3 148 2512 0.00 0.35 0.00 0.000 6 0.000 0.044 2889 3446 3564 0 0 0 0 0 0 28.83 26.82 28.83

2820 -0.78 -194.6 382.4 -5.6 164 2821 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 3445 3562 0 0 0 0 0 0 28.83 28.83 28.83

3121 -0.84 -194.6 405.8 -9.4 179 3122 0.15 0.00 0.00 0.000 6 0.079 0.000 2808 3445 3560 0 0 0 0 0 0 26.83 28.83 28.83

3420 -0.67 -194.6 460.3 -19.5 194 3426 0.25 0.43 0.00 0.000 4 0.172 0.067 2887 3706 3558 0 0 0 0 0 0 26.67 26.78 28.83

3653 -0.75 -194.6 482.8 -8.9 205 3658 0.00 0.40 0.00 0.000 6 0.000 0.044 2887 3419 3557 0 0 0 0 0 0 28.83 26.85 28.83

3967 -0.84 -194.6 507.2 -7.1 221 3969 0.15 0.00 0.00 0.000 6 0.083 0.000 2809 3420 3554 0 0 0 0 0 0 26.84 28.83 28.83

4266 -0.70 -194.6 556.4 -17.2 236 4272 0.22 0.45 0.00 0.000 4 0.170 0.068 2879 3694 3553 0 0 0 0 0 0 26.69 26.79 28.83

4399 -0.76 -194.6 567.6 -7.6 242 4404 0.00 0.35 0.00 0.000 6 0.000 0.045 2879 3441 3552 0 0 0 0 0 0 28.83 26.85 28.83

4713 -0.84 -194.6 590.4 -6.9 258 4715 0.12 0.00 0.00 0.000 6 0.099 0.000 2810 3441 3550 0 0 0 0 0 0 26.84 28.83 28.83

5033 -0.71 -194.6 630.1 -11.1 270 5039 0.20 0.43 0.00 0.000 4 0.168 0.065 2873 3704 3548 0 0 0 0 0 0 26.70 26.79 28.83

5266 -0.76 -194.6 644.4 -9.3 277 5271 0.00 0.35 0.00 0.000 6 0.000 0.047 2873 3458 3547 0 0 0 0 0 0 28.83 26.86 28.83

5581 -0.80 -194.6 666.0 -6.8 288 5586 0.00 0.40 0.00 0.000 4 0.000 0.073 2873 3708 3545 0 0 0 0 0 0 28.83 26.80 28.83

5763 -0.89 -194.6 685.3 -10.6 294 5769 0.10 0.35 0.00 0.000 6 0.054 0.047 2808 3471 3544 0 0 0 0 0 0 26.84 26.86 28.83

5885 end dive: BOTTOM_OBSTACLE_DETECTED

state 5885 begin apogee

5891 -0.12 0.0 705.6 -16.8 298 6051 0.80 0.00 153.02 1.248 4 0.149 0.000 3068 2997 2768 0 0 0 0 0 0 26.70 28.83 24.15

6053 end apogee: CONTROL_FINISHED_OK

state 6053 begin climb

6055 0.51 194.6 715.8 0.0 303 6227 0.55 2.20 163.48 1.211 4 0.049 0.028 3289 1589 1975 0 0 0 0 0 0 25.10 25.11 24.07

6455 0.28 194.6 667.7 16.8 316 6462 0.30 2.33 0.00 0.000 6 0.179 0.058 3208 3007 1965 0 0 0 0 0 0 25.87 25.98 28.83

6762 0.10 194.6 612.5 17.1 327 6768 0.20 1.12 0.00 0.000 4 0.164 0.059 3145 3703 1964 0 0 0 0 0 0 26.22 26.31 28.83

6955 0.02 194.6 587.2 13.3 335 6961 0.08 1.10 0.00 0.000 6 0.151 0.032 3120 2968 1963 0 0 0 0 0 0 26.34 26.48 28.83

7269 0.11 288.2 563.1 6.8 351 7349 0.00 1.33 75.18 1.150 4 0.000 0.067 3120 3701 1594 0 0 0 0 0 0 28.83 25.13 24.44

7481 0.22 354.0 548.7 7.7 361 7541 0.15 1.05 54.35 1.118 6 0.047 0.031 3204 3013 1325 0 0 0 0 0 0 25.91 25.95 24.37

7854 0.13 354.0 484.3 17.6 380 7860 0.15 2.10 0.00 0.000 4 0.155 0.028 3159 1590 1320 0 0 0 0 0 0 26.07 26.18 28.83

7927 0.19 354.0 478.4 11.2 383 7933 0.00 2.25 0.00 0.000 6 0.000 0.054 3159 2987 1319 0 0 0 0 0 0 28.83 26.20 28.83

8241 0.27 368.7 449.8 9.5 399 8261 0.12 1.15 12.40 0.998 4 0.093 0.060 3232 3696 1264 0 0 0 0 0 0 26.46 26.15 25.46

8367 0.09 368.7 424.8 22.4 405 8373 0.28 1.08 0.00 0.000 6 0.134 0.033 3146 2986 1263 0 0 0 0 0 0 26.18 26.33 28.83

8686 0.26 429.7 393.3 7.9 421 8740 0.12 0.00 50.15 1.034 6 0.091 0.000 3215 2986 1017 0 0 0 0 0 0 26.49 28.83 24.84

9027 0.18 429.7 320.4 21.2 438 9033 0.12 1.20 0.00 0.000 4 0.157 0.065 3174 3696 1012 0 0 0 0 0 0 26.10 26.17 28.83

9060 0.11 429.7 315.4 21.3 439 9066 0.08 1.05 0.00 0.000 6 0.133 0.031 3147 2989 1012 0 0 0 0 0 0 26.15 26.29 28.83

9374 0.46 429.7 279.9 13.2 455 9380 0.30 2.03 0.00 0.000 4 0.086 0.025 3265 1582 1011 0 0 0 0 0 0 26.39 26.45 28.83

9473 0.81 429.7 269.6 12.2 459 9480 0.30 2.20 0.00 0.000 6 0.117 0.051 3366 2984 1011 0 0 0 0 0 0 26.39 26.44 28.83

9778 0.44 429.7 157.2 37.9 475 9784 0.35 2.05 0.00 0.000 4 0.181 0.028 3271 1587 1010 0 0 0 0 0 0 26.39 26.58 28.83

9878 0.41 429.7 143.0 16.4 479 9884 0.00 2.10 0.00 0.000 6 0.000 0.054 3271 2911 1010 0 0 0 0 0 0 28.83 26.54 28.83

10062 0.38 429.7 113.3 16.0 489 10067 0.12 1.25 0.00 0.000 4 0.153 0.057 3227 3696 1010 0 0 0 0 0 0 26.53 26.58 28.83

10215 0.52 454.1 98.1 9.2 496 10240 0.10 1.10 19.92 0.796 6 0.057 0.034 3291 2960 917 0 0 0 0 0 0 26.64 26.67 25.70

10428 0.56 454.1 73.5 11.0 507 10429 0.00 0.00 0.00 0.000 6 0.000 0.000 3291 2960 914 0 0 0 0 0 0 28.83 28.83 28.83

10608 0.58 454.1 49.6 13.7 516 10613 0.00 1.20 0.00 0.000 4 0.000 0.065 3291 3690 914 0 0 0 0 0 0 28.83 26.47 28.83

10644 0.58 454.1 45.4 13.3 519 10651 0.00 1.10 0.00 0.000 6 0.000 0.028 3294 2943 914 0 0 0 0 0 0 28.83 26.57 28.83

10831 0.58 454.1 17.9 14.3 542 10837 0.00 0.00 0.00 0.000 6 0.000 0.000 3294 2941 914 0 0 0 0 0 0 28.83 28.83 28.83

10942 end climb: SURFACE_DEPTH_REACHED

state 10942 begin surface coast

10969 end surface coast: CONTROL_FINISHED_OK

state 10969 begin surface

ID	170	HD_C	8e-06	ROLL_MIN	165	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	10	HEADING	10	ROLL_MAX	3698	ALTIM_PING_DEPTH	500
DIVE	15	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3400	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3000	ALTIM_PULSE	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	3
D_ABORT	1040	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	200	SM_CC	450	R_PORT_OVSHOOT	60	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	20	N_FILEKB	8	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	300	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	DEVICE1	-1
D_CALL	0	N_NOCOMM	2	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2769	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	330	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	350	CALL_WAIT	60	VBD_TIMEOUT	540	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00060000003	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-7	T_GPS_CHARGE	-141940.44	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	100	RAFOS_DEVICE	-1
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	139	FG_AHR_24V	0	SEABIRD_T_G	0.0043559377
MAX_BUOY	200	PITCH_MAX	3933	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062550703
COURSE_BIAS	0	C_PITCH	3110	PRESSURE_YINT	-48.120956	SEABIRD_T_I	2.3551509e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164274	SEABIRD_T_J	2.509174e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.138787
RHO	1.0275	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1450038
MASS	51479	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015582878
NAV_MODE	0	PITCH_TIMEOUT	16	COMPASS_USE	4	SEABIRD_C_J	0.00020114503
FERRY_MAX	45	PITCH_AD_RATE	155	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0049999999	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	20	SC_XMITPROFILE	3.0
HD_B	0.0089999996	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	071112,111201,2145.390,12025.933,21,1.2,21,-3.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2155.840,12027.976
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071112,111748,2145.205,12025.954,15,1.2,16,-3.1	MHEAD_RNG_PITCHd_Wd	13.1,20000,-15.6,-10.000,-17.73
SPEED_LIMITS	0.173,0.313	D_GRID	846

FINISH	1.3,1.014100	_24V_AH	24.1,3.337
SM_CCo	11047,0.00,0.000,0,0,913,455.03	_10V_AH	10.0,1.371
SM_GC	2.11,8.15,0.77,0.00,0.051,0.061,0.000,132,3407,913,-9.26,-0.76,455.03,0,0,0,0,0,0,26.53,26.58,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2136.49,12021.23,071112,080831	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	324588
HUMID	52.67	DATA_FILE_SIZE	20078,569
INTERNAL_PRESSURE	9.53711	CAP_FILE_SIZE	147876,0
TCM_TEMP	24.30	CFSIZE	260034560,249548800
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	600.3,123.5	GPS	071112,142337,2145.580,12026.223,39,2.0,39,-3.1
SC_FREEKB	4014368

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	248	160.28	nil	0	0	0.00
Roll_motor	44	143	152.73	nil	0	0	0.00
VBD_pump_during_apogee	528	1248	15901.70	nil	0	0	0.00
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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	10983	9	2430.12
Iridium_during_xfer	211	126	648.74	nil	0	0	0.00
Transponder_ping	1	420	10.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	30	5.27
TT8	1976	13	261.69
LPSleep	6726	2	147.31
TT8_Active	576	13	76.33
TT8_Sampling	1948	38	754.40
TT8_CF8	174	45	79.18
TT8_Kalman	0	0	0.00
Analog_circuits	1711	15	273.34
GPS_charging	0	0	0.00
Compass	1638	8	134.99
RAFOS	0	0	0.00
Transponder	9	30	2.82

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.51	-194.6	0.0	0.0	0	104	0.00	0.00	-83.70	0.000	2	0.000	0.000	137	3417	2313	0	0	0	0	0	0	28.83	28.83	28.83
107	-0.51	-194.6	3.1	-3.5	15	155	11.18	0.47	-32.75	0.000	4	0.249	0.143	2939	3698	3564	0	0	0	0	0	0	26.13	26.33	26.63
383	-0.15	-194.6	94.8	-36.6	44	389	0.38	0.40	0.00	0.000	6	0.181	0.041	3052	3410	3564	0	0	0	0	0	0	26.34	26.53	28.83
588	-0.48	-194.6	118.2	-5.3	54	594	0.25	0.45	0.00	0.000	4	0.094	0.061	2956	3694	3565	0	0	0	0	0	0	26.53	26.53	28.83
697	-0.83	-194.6	128.6	-9.9	59	702	0.28	0.45	0.00	0.000	6	0.063	0.041	2835	3367	3565	0	0	0	0	0	0	26.58	26.64	28.83
896	-0.49	-194.6	180.4	-31.2	69	902	0.35	0.52	0.00	0.000	4	0.176	0.062	2943	3695	3565	0	0	0	0	0	0	26.50	26.61	28.83
1040	-0.60	-194.6	195.6	-6.6	76	1045	0.00	0.40	0.00	0.000	6	0.000	0.041	2943	3405	3566	0	0	0	0	0	0	28.83	26.70	28.83
1244	-0.76	-194.6	207.3	-6.0	86	1246	0.22	0.00	0.00	0.000	6	0.065	0.000	2828	3405	3566	0	0	0	0	0	0	26.72	28.83	28.83
1423	-0.56	-194.6	243.2	-22.2	95	1428	0.30	0.47	0.00	0.000	4	0.170	0.063	2922	3698	3567	0	0	0	0	0	0	26.59	26.69	28.83
1581	-0.66	-194.6	258.9	-8.4	102	1587	0.00	0.40	0.00	0.000	6	0.000	0.041	2922	3403	3567	0	0	0	0	0	0	28.83	26.77	28.83
1887	-0.79	-194.6	280.2	-6.4	118	1893	0.15	2.03	0.00	0.000	4	0.083	0.024	2834	1958	3566	0	0	0	0	0	0	26.78	26.80	28.83
1950	-0.82	-194.6	287.5	-10.4	121	1956	0.00	2.28	0.00	0.000	6	0.000	0.061	2833	3395	3566	0	0	0	0	0	0	28.83	26.71	28.83
2274	-0.68	-194.6	343.3	-16.2	137	2279	0.17	0.47	0.00	0.000	4	0.186	0.066	2888	3702	3564	0	0	0	0	0	0	26.65	26.74	28.83
2506	-0.71	-194.6	363.5	-7.3	148	2512	0.00	0.35	0.00	0.000	6	0.000	0.044	2889	3446	3564	0	0	0	0	0	0	28.83	26.82	28.83
2820	-0.78	-194.6	382.4	-5.6	164	2821	0.00	0.00	0.00	0.000	6	0.000	0.000	2888	3445	3562	0	0	0	0	0	0	28.83	28.83	28.83
3121	-0.84	-194.6	405.8	-9.4	179	3122	0.15	0.00	0.00	0.000	6	0.079	0.000	2808	3445	3560	0	0	0	0	0	0	26.83	28.83	28.83
3420	-0.67	-194.6	460.3	-19.5	194	3426	0.25	0.43	0.00	0.000	4	0.172	0.067	2887	3706	3558	0	0	0	0	0	0	26.67	26.78	28.83
3653	-0.75	-194.6	482.8	-8.9	205	3658	0.00	0.40	0.00	0.000	6	0.000	0.044	2887	3419	3557	0	0	0	0	0	0	28.83	26.85	28.83
3967	-0.84	-194.6	507.2	-7.1	221	3969	0.15	0.00	0.00	0.000	6	0.083	0.000	2809	3420	3554	0	0	0	0	0	0	26.84	28.83	28.83
4266	-0.70	-194.6	556.4	-17.2	236	4272	0.22	0.45	0.00	0.000	4	0.170	0.068	2879	3694	3553	0	0	0	0	0	0	26.69	26.79	28.83
4399	-0.76	-194.6	567.6	-7.6	242	4404	0.00	0.35	0.00	0.000	6	0.000	0.045	2879	3441	3552	0	0	0	0	0	0	28.83	26.85	28.83
4713	-0.84	-194.6	590.4	-6.9	258	4715	0.12	0.00	0.00	0.000	6	0.099	0.000	2810	3441	3550	0	0	0	0	0	0	26.84	28.83	28.83
5033	-0.71	-194.6	630.1	-11.1	270	5039	0.20	0.43	0.00	0.000	4	0.168	0.065	2873	3704	3548	0	0	0	0	0	0	26.70	26.79	28.83
5266	-0.76	-194.6	644.4	-9.3	277	5271	0.00	0.35	0.00	0.000	6	0.000	0.047	2873	3458	3547	0	0	0	0	0	0	28.83	26.86	28.83
5581	-0.80	-194.6	666.0	-6.8	288	5586	0.00	0.40	0.00	0.000	4	0.000	0.073	2873	3708	3545	0	0	0	0	0	0	28.83	26.80	28.83
5763	-0.89	-194.6	685.3	-10.6	294	5769	0.10	0.35	0.00	0.000	6	0.054	0.047	2808	3471	3544	0	0	0	0	0	0	26.84	26.86	28.83
5885	end dive: BOTTOM_OBSTACLE_DETECTED
state	5885	begin apogee
5891	-0.12	0.0	705.6	-16.8	298	6051	0.80	0.00	153.02	1.248	4	0.149	0.000	3068	2997	2768	0	0	0	0	0	0	26.70	28.83	24.15
6053	end apogee: CONTROL_FINISHED_OK
state	6053	begin climb
6055	0.51	194.6	715.8	0.0	303	6227	0.55	2.20	163.48	1.211	4	0.049	0.028	3289	1589	1975	0	0	0	0	0	0	25.10	25.11	24.07
6455	0.28	194.6	667.7	16.8	316	6462	0.30	2.33	0.00	0.000	6	0.179	0.058	3208	3007	1965	0	0	0	0	0	0	25.87	25.98	28.83
6762	0.10	194.6	612.5	17.1	327	6768	0.20	1.12	0.00	0.000	4	0.164	0.059	3145	3703	1964	0	0	0	0	0	0	26.22	26.31	28.83
6955	0.02	194.6	587.2	13.3	335	6961	0.08	1.10	0.00	0.000	6	0.151	0.032	3120	2968	1963	0	0	0	0	0	0	26.34	26.48	28.83
7269	0.11	288.2	563.1	6.8	351	7349	0.00	1.33	75.18	1.150	4	0.000	0.067	3120	3701	1594	0	0	0	0	0	0	28.83	25.13	24.44
7481	0.22	354.0	548.7	7.7	361	7541	0.15	1.05	54.35	1.118	6	0.047	0.031	3204	3013	1325	0	0	0	0	0	0	25.91	25.95	24.37
7854	0.13	354.0	484.3	17.6	380	7860	0.15	2.10	0.00	0.000	4	0.155	0.028	3159	1590	1320	0	0	0	0	0	0	26.07	26.18	28.83
7927	0.19	354.0	478.4	11.2	383	7933	0.00	2.25	0.00	0.000	6	0.000	0.054	3159	2987	1319	0	0	0	0	0	0	28.83	26.20	28.83
8241	0.27	368.7	449.8	9.5	399	8261	0.12	1.15	12.40	0.998	4	0.093	0.060	3232	3696	1264	0	0	0	0	0	0	26.46	26.15	25.46
8367	0.09	368.7	424.8	22.4	405	8373	0.28	1.08	0.00	0.000	6	0.134	0.033	3146	2986	1263	0	0	0	0	0	0	26.18	26.33	28.83
8686	0.26	429.7	393.3	7.9	421	8740	0.12	0.00	50.15	1.034	6	0.091	0.000	3215	2986	1017	0	0	0	0	0	0	26.49	28.83	24.84
9027	0.18	429.7	320.4	21.2	438	9033	0.12	1.20	0.00	0.000	4	0.157	0.065	3174	3696	1012	0	0	0	0	0	0	26.10	26.17	28.83
9060	0.11	429.7	315.4	21.3	439	9066	0.08	1.05	0.00	0.000	6	0.133	0.031	3147	2989	1012	0	0	0	0	0	0	26.15	26.29	28.83
9374	0.46	429.7	279.9	13.2	455	9380	0.30	2.03	0.00	0.000	4	0.086	0.025	3265	1582	1011	0	0	0	0	0	0	26.39	26.45	28.83
9473	0.81	429.7	269.6	12.2	459	9480	0.30	2.20	0.00	0.000	6	0.117	0.051	3366	2984	1011	0	0	0	0	0	0	26.39	26.44	28.83
9778	0.44	429.7	157.2	37.9	475	9784	0.35	2.05	0.00	0.000	4	0.181	0.028	3271	1587	1010	0	0	0	0	0	0	26.39	26.58	28.83
9878	0.41	429.7	143.0	16.4	479	9884	0.00	2.10	0.00	0.000	6	0.000	0.054	3271	2911	1010	0	0	0	0	0	0	28.83	26.54	28.83
10062	0.38	429.7	113.3	16.0	489	10067	0.12	1.25	0.00	0.000	4	0.153	0.057	3227	3696	1010	0	0	0	0	0	0	26.53	26.58	28.83
10215	0.52	454.1	98.1	9.2	496	10240	0.10	1.10	19.92	0.796	6	0.057	0.034	3291	2960	917	0	0	0	0	0	0	26.64	26.67	25.70
10428	0.56	454.1	73.5	11.0	507	10429	0.00	0.00	0.00	0.000	6	0.000	0.000	3291	2960	914	0	0	0	0	0	0	28.83	28.83	28.83
10608	0.58	454.1	49.6	13.7	516	10613	0.00	1.20	0.00	0.000	4	0.000	0.065	3291	3690	914	0	0	0	0	0	0	28.83	26.47	28.83
10644	0.58	454.1	45.4	13.3	519	10651	0.00	1.10	0.00	0.000	6	0.000	0.028	3294	2943	914	0	0	0	0	0	0	28.83	26.57	28.83
10831	0.58	454.1	17.9	14.3	542	10837	0.00	0.00	0.00	0.000	6	0.000	0.000	3294	2941	914	0	0	0	0	0	0	28.83	28.83	28.83
10942	end climb: SURFACE_DEPTH_REACHED
state	10942	begin surface coast
10969	end surface coast: CONTROL_FINISHED_OK
state	10969	begin surface