Glider dive log

OKMC Nov12 * SG170 * Dive index * Mission links * Dive 189 * 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 -1 ROLL_MAX 3698 ALTIM_PING_DEPTH 0

DIVE 189 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2120 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 61 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 20 N_FILEKB 8 R_STBD_OVSHOOT 40 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 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 3 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 380 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 400 CALL_WAIT 60 VBD_TIMEOUT 540 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 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 -5 T_GPS_CHARGE -143329.75 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 175 PITCH_MAX 3933 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062550703

COURSE_BIAS 0 C_PITCH 3050 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 34 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015582878

NAV_MODE 2 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 0.0049999999 ALTIM_BOTTOM_TURN_MARGIN 0 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 0.0049999999 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 155 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 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 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 34 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 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 0.00039999999 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 1 T_BOOST 0

CALL_TRIES 5 HD_B 0.0089999996 P_OVSHOOT 0.039999999 T_DIVE 380

CALL_WAIT 60 HD_C 8e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 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 -143329.75

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 170 RHO 1.0275 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.60000002 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 300 T_TURN 225

C_PITCH 3050 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2120 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2600 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 -5

DEEPGLIDERMB 0 MASS 51479 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 175 R_PORT_OVSHOOT 61 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 40 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 2 SEABIRD_C_G -10.138787 VBD_MIN 460

DIVE 189 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 3 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 121212,163604,1836.867,12031.386,26,1.1,26,-2.4 TGT_NAME W4

_CALLS 1 TGT_LATLONG 1834.500,12031.750

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.32 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121212,164400,1837.166,12031.385,19,1.2,19,-2.4 MHEAD_RNG_PITCHd_Wd 194.0,4978,-14.9,-8.684,-17.18

SPEED_LIMITS 0.150,0.281 D_GRID 344

Post-dive calculations and measurements:

FINISH 1.6,1.020867 _10V_AH 10.0,19.179

SM_CCo 7677,0.00,0.000,0,0,459,566.64 FG_AHR_24Vo 0.000

SM_GC 2.32,8.35,0.73,0.00,0.047,0.041,0.000,143,2607,459,-9.05,-1.13,566.64,0,0,0,0,0,0,26.11,26.34,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1830.49,12032.08,121212,141414 MEM 337816

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 16774,466

HUMID 54.48 CAP_FILE_SIZE 121355,0

INTERNAL_PRESSURE 9.55664 CFSIZE 260034560,231591936

TCM_TEMP 24.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.359, 30.4,1

SC_FREEKB 3947552 GPS 121212,185319,1837.452,12031.873,17,1.5,17,-2.4

_24V_AH 24.5,41.642

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 244 131.24 nil 0 0 0.00

Roll_motor 88 51 110.54 nil 0 0 0.00

VBD_pump_during_apogee 593 970 14104.82 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 7632 15 2960.33

Iridium_during_xfer 297 128 936.28 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 30 6.44

TT8 1429 13 189.26

LPSleep 4386 2 96.06

TT8_Active 632 13 83.70

TT8_Sampling 1508 38 583.98

TT8_CF8 202 45 91.95

TT8_Kalman 0 0 0.00

Analog_circuits 1654 15 264.30

GPS_charging 0 0 0.00

Compass 1113 8 91.73

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.51 -170.3 0.0 0.0 0 86 0.00 0.00 -63.58 0.000 2 0.000 0.000 142 2623 1889 0 0 0 0 0 0 28.83 28.83 28.83

89 -0.51 -170.3 3.0 -2.6 11 155 11.27 2.15 -46.83 0.000 4 0.244 0.047 2884 1195 3465 0 0 0 0 0 0 25.71 26.24 26.60

259 -0.46 -170.3 34.1 -21.5 38 265 0.00 2.17 0.00 0.000 6 0.000 0.044 2884 2601 3463 0 0 0 0 0 0 28.83 26.28 28.83

455 -0.42 -170.3 72.4 -21.8 52 460 0.10 1.67 0.00 0.000 4 0.186 0.048 2910 3701 3464 0 0 0 0 0 0 26.33 26.34 28.83

528 -0.38 -170.3 82.4 -16.0 55 533 0.00 1.60 0.00 0.000 6 0.000 0.023 2910 2545 3464 0 0 0 0 0 0 28.83 26.55 28.83

721 -0.38 -170.3 105.4 -9.6 65 727 0.00 1.92 0.00 0.000 4 0.000 0.025 2910 1182 3464 0 0 0 0 0 0 28.83 26.51 28.83

794 -0.38 -170.3 112.6 -11.3 68 799 0.00 2.15 0.00 0.000 6 0.000 0.037 2910 2608 3464 0 0 0 0 0 0 28.83 26.44 28.83

988 -0.38 -170.3 135.7 -11.8 78 993 0.00 1.67 0.00 0.000 4 0.000 0.051 2911 3693 3464 0 0 0 0 0 0 28.83 26.42 28.83

1065 -0.39 -170.3 141.4 -9.8 81 1073 0.00 1.60 0.00 0.000 6 0.000 0.024 2910 2534 3464 0 0 0 0 0 0 28.83 26.63 28.83

1251 -0.40 -170.3 158.0 -8.7 91 1256 0.00 1.90 0.00 0.000 4 0.000 0.026 2910 1183 3464 0 0 0 0 0 0 28.83 26.56 28.83

1284 -0.41 -170.3 159.9 -8.5 92 1291 0.00 2.15 0.00 0.000 6 0.000 0.040 2910 2608 3464 0 0 0 0 0 0 28.83 26.46 28.83

1479 -0.42 -170.3 177.4 -9.2 102 1484 0.00 2.08 0.00 0.000 4 0.000 0.028 2910 1195 3464 0 0 0 0 0 0 28.83 26.54 28.83

1506 -0.44 -170.3 179.5 -9.4 103 1512 0.00 2.15 0.00 0.000 6 0.000 0.042 2910 2599 3463 0 0 0 0 0 0 28.83 26.46 28.83

1707 -0.45 -170.3 196.7 -8.4 113 1713 0.00 1.70 0.00 0.000 4 0.000 0.051 2910 3697 3463 0 0 0 0 0 0 28.83 26.44 28.83

1760 -0.47 -170.3 200.3 -8.0 115 1765 0.00 1.60 0.00 0.000 6 0.000 0.024 2910 2547 3463 0 0 0 0 0 0 28.83 26.61 28.83

1955 -0.49 -170.3 216.4 -7.6 125 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2910 2546 3462 0 0 0 0 0 0 28.83 28.83 28.83

2134 -0.52 -170.3 229.7 -7.1 134 2135 0.00 0.00 0.00 0.000 6 0.000 0.000 2910 2546 3461 0 0 0 0 0 0 28.83 28.83 28.83

2314 -0.54 -170.3 240.7 -5.9 143 2320 0.12 1.95 0.00 0.000 4 0.096 0.026 2838 1185 3460 0 0 0 0 0 0 26.63 26.55 28.83

2372 -0.55 -170.3 244.9 -7.6 145 2380 0.12 2.17 0.00 0.000 6 0.155 0.044 2874 2597 3459 0 0 0 0 0 0 26.28 26.45 28.83

2560 -0.56 -170.3 263.3 -9.1 155 2566 0.00 2.05 0.00 0.000 4 0.000 0.028 2874 1191 3458 0 0 0 0 0 0 28.83 26.55 28.83

2588 -0.57 -170.3 265.7 -9.1 156 2594 0.00 2.17 0.00 0.000 6 0.000 0.044 2874 2605 3458 0 0 0 0 0 0 28.83 26.45 28.83

2907 -0.57 -170.3 294.5 -9.3 172 2908 0.00 0.00 0.00 0.000 6 0.000 0.000 2874 2605 3455 0 0 0 0 0 0 28.83 28.83 28.83

3208 -0.58 -170.3 320.2 -7.7 187 3213 0.00 2.10 0.00 0.000 4 0.000 0.029 2874 1191 3454 0 0 0 0 0 0 28.83 26.53 28.83

3296 -0.59 -170.3 326.1 -7.0 191 3301 0.00 2.17 0.00 0.000 6 0.000 0.045 2874 2610 3453 0 0 0 0 0 0 28.83 26.43 28.83

3553 end dive: TARGET_DEPTH_EXCEEDED

state 3553 begin apogee

3559 -0.15 0.0 345.0 -7.5 204 3695 0.35 0.00 130.05 0.970 6 0.106 0.000 2998 2087 2769 0 0 0 0 0 0 26.29 28.83 24.58

3697 end apogee: CONTROL_FINISHED_OK

state 3697 begin climb

3699 0.51 170.3 348.9 0.0 211 3849 0.57 2.12 138.40 0.942 4 0.066 0.037 3226 761 2071 0 0 0 0 0 0 25.44 25.23 24.46

3892 0.49 170.3 338.9 9.0 220 3899 0.00 2.12 0.00 0.000 6 0.000 0.038 3226 2124 2067 0 0 0 0 0 0 28.83 25.65 28.83

4198 0.47 170.3 305.6 10.3 236 4204 0.00 2.10 0.00 0.000 4 0.000 0.037 3226 758 2064 0 0 0 0 0 0 28.83 26.25 28.83

4246 0.45 170.3 301.0 10.5 238 4251 0.00 2.10 0.00 0.000 6 0.000 0.038 3226 2126 2062 0 0 0 0 0 0 28.83 26.27 28.83

4565 0.43 170.3 269.0 11.4 254 4567 0.12 0.00 0.00 0.000 6 0.151 0.000 3189 2127 2061 0 0 0 0 0 0 26.33 28.83 28.83

4866 0.45 205.8 243.9 7.5 269 4899 0.00 2.28 27.67 0.894 4 0.000 0.048 3189 3531 1929 0 0 0 0 0 0 28.83 26.02 25.22

4952 0.45 224.2 237.1 8.1 273 4976 0.00 2.08 16.10 0.852 6 0.000 0.027 3189 2149 1854 0 0 0 0 0 0 28.83 26.17 25.08

5170 0.48 256.8 219.3 7.6 284 5203 0.00 2.20 26.75 0.874 4 0.000 0.035 3189 715 1720 0 0 0 0 0 0 28.83 25.89 25.10

5267 0.52 302.2 213.4 7.1 288 5311 0.00 2.20 37.12 0.871 6 0.000 0.038 3189 2131 1536 0 0 0 0 0 0 28.83 26.04 24.87

5491 0.58 371.0 197.4 6.3 300 5557 0.12 2.30 55.30 0.864 4 0.086 0.049 3272 3531 1254 0 0 0 0 0 0 26.26 25.53 24.82

5599 0.57 371.0 185.4 12.1 305 5605 0.15 2.17 0.00 0.000 6 0.135 0.028 3226 2122 1252 0 0 0 0 0 0 25.74 25.89 28.83

5800 0.58 371.0 165.9 9.6 315 5806 0.00 2.12 0.00 0.000 4 0.000 0.034 3226 708 1250 0 0 0 0 0 0 28.83 26.22 28.83

5853 0.61 371.0 161.9 9.2 317 5858 0.00 2.17 0.00 0.000 6 0.000 0.039 3226 2123 1249 0 0 0 0 0 0 28.83 26.23 28.83

6048 0.64 398.0 145.7 7.8 327 6076 0.00 2.20 22.12 0.812 4 0.000 0.047 3226 3531 1144 0 0 0 0 0 0 28.83 26.04 25.28

6118 0.70 455.6 141.4 6.7 330 6174 0.15 2.15 47.75 0.823 6 0.076 0.024 3311 2092 912 0 0 0 0 0 0 26.15 26.19 24.89

6371 0.70 455.6 103.9 13.7 343 6377 0.12 2.03 0.00 0.000 4 0.137 0.034 3268 732 906 0 0 0 0 0 0 26.10 26.17 28.83

6435 0.72 455.6 98.1 10.2 346 6441 0.00 2.10 0.00 0.000 6 0.000 0.032 3268 2136 906 0 0 0 0 0 0 28.83 26.25 28.83

6641 0.76 486.2 84.1 7.6 356 6674 0.00 2.22 25.50 0.770 4 0.000 0.046 3268 3522 785 0 0 0 0 0 0 28.83 26.01 25.27

6716 0.79 486.2 77.8 9.6 359 6723 0.12 2.10 0.00 0.000 6 0.086 0.025 3338 2121 784 0 0 0 0 0 0 26.11 26.16 28.83

6903 0.79 486.2 53.4 14.0 369 6908 0.12 2.20 0.00 0.000 4 0.139 0.044 3293 3524 783 0 0 0 0 0 0 26.22 26.24 28.83

6950 0.80 486.2 48.2 13.8 371 6957 0.00 2.10 0.00 0.000 6 0.000 0.026 3293 2112 782 0 0 0 0 0 0 28.83 26.38 28.83

7137 0.89 587.8 36.0 5.2 390 7210 0.12 2.20 66.72 0.740 4 0.090 0.037 3368 720 461 0 0 0 0 0 0 26.48 25.68 25.01

7299 0.95 613.0 21.7 7.8 409 7307 0.00 2.15 0.00 0.000 6 0.000 0.035 3368 2123 460 0 0 0 0 0 0 28.83 26.01 28.83

7494 1.01 679.9 8.6 6.4 446 7500 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 2128 459 0 0 0 0 0 0 28.83 28.83 28.83

7570 end climb: SURFACE_DEPTH_REACHED

state 7570 begin surface coast

7599 end surface coast: CONTROL_FINISHED_OK

state 7599 begin surface

ID	170	HD_C	8e-06	ROLL_MIN	165	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	10	HEADING	-1	ROLL_MAX	3698	ALTIM_PING_DEPTH	0
DIVE	189	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2120	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	61	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	20	N_FILEKB	8	R_STBD_OVSHOOT	40	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	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	3	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	380	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	400	CALL_WAIT	60	VBD_TIMEOUT	540	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	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	-5	T_GPS_CHARGE	-143329.75	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	175	PITCH_MAX	3933	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062550703
COURSE_BIAS	0	C_PITCH	3050	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	34	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015582878
NAV_MODE	2	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	0.0049999999	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.0089999996	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	121212,163604,1836.867,12031.386,26,1.1,26,-2.4	TGT_NAME	W4
_CALLS	1	TGT_LATLONG	1834.500,12031.750
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.32	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121212,164400,1837.166,12031.385,19,1.2,19,-2.4	MHEAD_RNG_PITCHd_Wd	194.0,4978,-14.9,-8.684,-17.18
SPEED_LIMITS	0.150,0.281	D_GRID	344

FINISH	1.6,1.020867	_10V_AH	10.0,19.179
SM_CCo	7677,0.00,0.000,0,0,459,566.64	FG_AHR_24Vo	0.000
SM_GC	2.32,8.35,0.73,0.00,0.047,0.041,0.000,143,2607,459,-9.05,-1.13,566.64,0,0,0,0,0,0,26.11,26.34,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1830.49,12032.08,121212,141414	MEM	337816
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	16774,466
HUMID	54.48	CAP_FILE_SIZE	121355,0
INTERNAL_PRESSURE	9.55664	CFSIZE	260034560,231591936
TCM_TEMP	24.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.359, 30.4,1
SC_FREEKB	3947552	GPS	121212,185319,1837.452,12031.873,17,1.5,17,-2.4
_24V_AH	24.5,41.642

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	244	131.24	nil	0	0	0.00
Roll_motor	88	51	110.54	nil	0	0	0.00
VBD_pump_during_apogee	593	970	14104.82	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	7632	15	2960.33
Iridium_during_xfer	297	128	936.28	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	30	6.44
TT8	1429	13	189.26
LPSleep	4386	2	96.06
TT8_Active	632	13	83.70
TT8_Sampling	1508	38	583.98
TT8_CF8	202	45	91.95
TT8_Kalman	0	0	0.00
Analog_circuits	1654	15	264.30
GPS_charging	0	0	0.00
Compass	1113	8	91.73
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.51	-170.3	0.0	0.0	0	86	0.00	0.00	-63.58	0.000	2	0.000	0.000	142	2623	1889	0	0	0	0	0	0	28.83	28.83	28.83
89	-0.51	-170.3	3.0	-2.6	11	155	11.27	2.15	-46.83	0.000	4	0.244	0.047	2884	1195	3465	0	0	0	0	0	0	25.71	26.24	26.60
259	-0.46	-170.3	34.1	-21.5	38	265	0.00	2.17	0.00	0.000	6	0.000	0.044	2884	2601	3463	0	0	0	0	0	0	28.83	26.28	28.83
455	-0.42	-170.3	72.4	-21.8	52	460	0.10	1.67	0.00	0.000	4	0.186	0.048	2910	3701	3464	0	0	0	0	0	0	26.33	26.34	28.83
528	-0.38	-170.3	82.4	-16.0	55	533	0.00	1.60	0.00	0.000	6	0.000	0.023	2910	2545	3464	0	0	0	0	0	0	28.83	26.55	28.83
721	-0.38	-170.3	105.4	-9.6	65	727	0.00	1.92	0.00	0.000	4	0.000	0.025	2910	1182	3464	0	0	0	0	0	0	28.83	26.51	28.83
794	-0.38	-170.3	112.6	-11.3	68	799	0.00	2.15	0.00	0.000	6	0.000	0.037	2910	2608	3464	0	0	0	0	0	0	28.83	26.44	28.83
988	-0.38	-170.3	135.7	-11.8	78	993	0.00	1.67	0.00	0.000	4	0.000	0.051	2911	3693	3464	0	0	0	0	0	0	28.83	26.42	28.83
1065	-0.39	-170.3	141.4	-9.8	81	1073	0.00	1.60	0.00	0.000	6	0.000	0.024	2910	2534	3464	0	0	0	0	0	0	28.83	26.63	28.83
1251	-0.40	-170.3	158.0	-8.7	91	1256	0.00	1.90	0.00	0.000	4	0.000	0.026	2910	1183	3464	0	0	0	0	0	0	28.83	26.56	28.83
1284	-0.41	-170.3	159.9	-8.5	92	1291	0.00	2.15	0.00	0.000	6	0.000	0.040	2910	2608	3464	0	0	0	0	0	0	28.83	26.46	28.83
1479	-0.42	-170.3	177.4	-9.2	102	1484	0.00	2.08	0.00	0.000	4	0.000	0.028	2910	1195	3464	0	0	0	0	0	0	28.83	26.54	28.83
1506	-0.44	-170.3	179.5	-9.4	103	1512	0.00	2.15	0.00	0.000	6	0.000	0.042	2910	2599	3463	0	0	0	0	0	0	28.83	26.46	28.83
1707	-0.45	-170.3	196.7	-8.4	113	1713	0.00	1.70	0.00	0.000	4	0.000	0.051	2910	3697	3463	0	0	0	0	0	0	28.83	26.44	28.83
1760	-0.47	-170.3	200.3	-8.0	115	1765	0.00	1.60	0.00	0.000	6	0.000	0.024	2910	2547	3463	0	0	0	0	0	0	28.83	26.61	28.83
1955	-0.49	-170.3	216.4	-7.6	125	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2910	2546	3462	0	0	0	0	0	0	28.83	28.83	28.83
2134	-0.52	-170.3	229.7	-7.1	134	2135	0.00	0.00	0.00	0.000	6	0.000	0.000	2910	2546	3461	0	0	0	0	0	0	28.83	28.83	28.83
2314	-0.54	-170.3	240.7	-5.9	143	2320	0.12	1.95	0.00	0.000	4	0.096	0.026	2838	1185	3460	0	0	0	0	0	0	26.63	26.55	28.83
2372	-0.55	-170.3	244.9	-7.6	145	2380	0.12	2.17	0.00	0.000	6	0.155	0.044	2874	2597	3459	0	0	0	0	0	0	26.28	26.45	28.83
2560	-0.56	-170.3	263.3	-9.1	155	2566	0.00	2.05	0.00	0.000	4	0.000	0.028	2874	1191	3458	0	0	0	0	0	0	28.83	26.55	28.83
2588	-0.57	-170.3	265.7	-9.1	156	2594	0.00	2.17	0.00	0.000	6	0.000	0.044	2874	2605	3458	0	0	0	0	0	0	28.83	26.45	28.83
2907	-0.57	-170.3	294.5	-9.3	172	2908	0.00	0.00	0.00	0.000	6	0.000	0.000	2874	2605	3455	0	0	0	0	0	0	28.83	28.83	28.83
3208	-0.58	-170.3	320.2	-7.7	187	3213	0.00	2.10	0.00	0.000	4	0.000	0.029	2874	1191	3454	0	0	0	0	0	0	28.83	26.53	28.83
3296	-0.59	-170.3	326.1	-7.0	191	3301	0.00	2.17	0.00	0.000	6	0.000	0.045	2874	2610	3453	0	0	0	0	0	0	28.83	26.43	28.83
3553	end dive: TARGET_DEPTH_EXCEEDED
state	3553	begin apogee
3559	-0.15	0.0	345.0	-7.5	204	3695	0.35	0.00	130.05	0.970	6	0.106	0.000	2998	2087	2769	0	0	0	0	0	0	26.29	28.83	24.58
3697	end apogee: CONTROL_FINISHED_OK
state	3697	begin climb
3699	0.51	170.3	348.9	0.0	211	3849	0.57	2.12	138.40	0.942	4	0.066	0.037	3226	761	2071	0	0	0	0	0	0	25.44	25.23	24.46
3892	0.49	170.3	338.9	9.0	220	3899	0.00	2.12	0.00	0.000	6	0.000	0.038	3226	2124	2067	0	0	0	0	0	0	28.83	25.65	28.83
4198	0.47	170.3	305.6	10.3	236	4204	0.00	2.10	0.00	0.000	4	0.000	0.037	3226	758	2064	0	0	0	0	0	0	28.83	26.25	28.83
4246	0.45	170.3	301.0	10.5	238	4251	0.00	2.10	0.00	0.000	6	0.000	0.038	3226	2126	2062	0	0	0	0	0	0	28.83	26.27	28.83
4565	0.43	170.3	269.0	11.4	254	4567	0.12	0.00	0.00	0.000	6	0.151	0.000	3189	2127	2061	0	0	0	0	0	0	26.33	28.83	28.83
4866	0.45	205.8	243.9	7.5	269	4899	0.00	2.28	27.67	0.894	4	0.000	0.048	3189	3531	1929	0	0	0	0	0	0	28.83	26.02	25.22
4952	0.45	224.2	237.1	8.1	273	4976	0.00	2.08	16.10	0.852	6	0.000	0.027	3189	2149	1854	0	0	0	0	0	0	28.83	26.17	25.08
5170	0.48	256.8	219.3	7.6	284	5203	0.00	2.20	26.75	0.874	4	0.000	0.035	3189	715	1720	0	0	0	0	0	0	28.83	25.89	25.10
5267	0.52	302.2	213.4	7.1	288	5311	0.00	2.20	37.12	0.871	6	0.000	0.038	3189	2131	1536	0	0	0	0	0	0	28.83	26.04	24.87
5491	0.58	371.0	197.4	6.3	300	5557	0.12	2.30	55.30	0.864	4	0.086	0.049	3272	3531	1254	0	0	0	0	0	0	26.26	25.53	24.82
5599	0.57	371.0	185.4	12.1	305	5605	0.15	2.17	0.00	0.000	6	0.135	0.028	3226	2122	1252	0	0	0	0	0	0	25.74	25.89	28.83
5800	0.58	371.0	165.9	9.6	315	5806	0.00	2.12	0.00	0.000	4	0.000	0.034	3226	708	1250	0	0	0	0	0	0	28.83	26.22	28.83
5853	0.61	371.0	161.9	9.2	317	5858	0.00	2.17	0.00	0.000	6	0.000	0.039	3226	2123	1249	0	0	0	0	0	0	28.83	26.23	28.83
6048	0.64	398.0	145.7	7.8	327	6076	0.00	2.20	22.12	0.812	4	0.000	0.047	3226	3531	1144	0	0	0	0	0	0	28.83	26.04	25.28
6118	0.70	455.6	141.4	6.7	330	6174	0.15	2.15	47.75	0.823	6	0.076	0.024	3311	2092	912	0	0	0	0	0	0	26.15	26.19	24.89
6371	0.70	455.6	103.9	13.7	343	6377	0.12	2.03	0.00	0.000	4	0.137	0.034	3268	732	906	0	0	0	0	0	0	26.10	26.17	28.83
6435	0.72	455.6	98.1	10.2	346	6441	0.00	2.10	0.00	0.000	6	0.000	0.032	3268	2136	906	0	0	0	0	0	0	28.83	26.25	28.83
6641	0.76	486.2	84.1	7.6	356	6674	0.00	2.22	25.50	0.770	4	0.000	0.046	3268	3522	785	0	0	0	0	0	0	28.83	26.01	25.27
6716	0.79	486.2	77.8	9.6	359	6723	0.12	2.10	0.00	0.000	6	0.086	0.025	3338	2121	784	0	0	0	0	0	0	26.11	26.16	28.83
6903	0.79	486.2	53.4	14.0	369	6908	0.12	2.20	0.00	0.000	4	0.139	0.044	3293	3524	783	0	0	0	0	0	0	26.22	26.24	28.83
6950	0.80	486.2	48.2	13.8	371	6957	0.00	2.10	0.00	0.000	6	0.000	0.026	3293	2112	782	0	0	0	0	0	0	28.83	26.38	28.83
7137	0.89	587.8	36.0	5.2	390	7210	0.12	2.20	66.72	0.740	4	0.090	0.037	3368	720	461	0	0	0	0	0	0	26.48	25.68	25.01
7299	0.95	613.0	21.7	7.8	409	7307	0.00	2.15	0.00	0.000	6	0.000	0.035	3368	2123	460	0	0	0	0	0	0	28.83	26.01	28.83
7494	1.01	679.9	8.6	6.4	446	7500	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	2128	459	0	0	0	0	0	0	28.83	28.83	28.83
7570	end climb: SURFACE_DEPTH_REACHED
state	7570	begin surface coast
7599	end surface coast: CONTROL_FINISHED_OK
state	7599	begin surface