Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 208 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING 280 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 208 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_SURF 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 970 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 61 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 37 XPDR_VALID 2

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 400 XPDR_INHIBIT 90

D_BOOST 20 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 3 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 415 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3400 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2380 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 370 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0035000001 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -20779.363 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -9 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 154 MINV_24V 22 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3952 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 225 C_PITCH 2820 FG_AHR_10V 0 SEABIRD_T_G 0.0043708701

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064764963

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.5888983e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -74.53199 SEABIRD_T_J 2.7074855e-06

RHO 1.0275 PITCH_GAIN 25 PRESSURE_SLOPE 0.0001165165 SEABIRD_C_G -10.475479

MASS 52107 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.2050543

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015894541

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021379974

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 181 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 9.9999997e-06 ROLL_MAX 3676 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 175 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 970 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 25 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3952 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MIN 154 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0035000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001165165 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.003 PRESSURE_YINT -74.53199 T_BOOST 3

CALL_TRIES 5 HD_B 0.0099999998 PROTOCOL 9 T_DIVE 370

CALL_WAIT 60 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING 280 RAFOS_CORR_THRESH 60 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -20779.363

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 171 RELAUNCH 1 T_MISSION 400

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2820 LOGGERDEVICE1 53 ROLL_AD_RATE 400 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2380 LOGGERDEVICE4 -1 ROLL_MAX 3676 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -9

DEEPGLIDER 0 MASS 52107 ROLL_MIN 181 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 225 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 61 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 37 VBD_DBAND 2

DEVICE3 -1 MISSION 4 SC_PROFILE 3.0 VBD_MAX 3400

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_MIN 415

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.475479 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 208 N_DIVES 0 SEABIRD_C_H 1.2050543 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1010 N_FILEKB 8 SEABIRD_C_I -0.0015894541 VBD_TIMEOUT 720

D_BOOST 20 N_GPS 20 SEABIRD_C_J 0.00021379974 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0043708701 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064764963 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_T_I 2.5888983e-05 XPDR_VALID 2

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.7074855e-06

Pre-dive calculations and measurements:

GPS1 270313,022235,2205.765,12310.108,40,0.9,41,-2.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2207.645,12258.753

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270313,022844,2205.770,12310.233,13,1.4,14,-2.9 MHEAD_RNG_PITCHd_Wd 282.9,20000,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 5314

Post-dive calculations and measurements:

FINISH 0.5,1.023102 _24V_AH 24.4,30.494

SM_CCo 9802,83.72,0.060,0,0,747,400.08 _10V_AH 10.3,21.284

SM_GC 1.42,7.82,0.77,83.72,0.029,0.047,0.060,117,2498,747,-8.29,-1.24,400.08,0,0,0,0,0,0,26.67,26.60,26.42 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2155.06,12311.08,260313,232312 FG_AHR_10Vo 0.000

TT8_MAMPS 0.047936,0.047936 MEM 329760

HUMID 44.99 DATA_FILE_SIZE 16794,466

INTERNAL_PRESSURE 9.62297 CAP_FILE_SIZE 244027,0

TCM_TEMP 23.40 CFSIZE 260034560,232300544

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

SC_FREEKB 3954016 GPS 270313,051506,2206.156,12308.907,31,1.2,32,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 218 104.67 nil 0 0 0.00

Roll_motor 73 55 99.78 nil 0 0 0.00

VBD_pump_during_apogee 653 750 11972.87 nil 0 0 0.00

VBD_pump_during_surface 83 59 121.90 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 9777 4 954.47

Iridium_during_xfer 220 123 666.47 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 27 4.45

TT8 1768 35 654.31

LPSleep 6044 2 136.35

TT8_Active 770 35 285.19

TT8_Sampling 1396 58 840.15

TT8_CF8 272 65 184.77

TT8_Kalman 0 0 0.00

Analog_circuits 1695 15 261.96

GPS_charging 0 0 0.00

Compass 1106 5 68.27

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.25 -219.0 126 2497 840 661 0.0 0.0 0 86 0.00 0.00 -65.57 0.000 16386 0.000 0.000 126 2497 2619 2685 2553 0 0 0 0 0 0 28.83 28.83 28.83

89 -1.25 -219.0 126 2497 2687 2554 4.1 -7.0 9 120 8.82 2.15 -11.32 0.000 18948 0.218 0.045 2412 1093 3276 3345 3208 0 0 0 0 0 0 25.82 26.29 26.60

226 -1.25 -219.0 2412 1093 3347 3207 51.8 -30.9 24 232 0.00 2.15 0.00 0.000 1030 0.000 0.041 2402 2491 3278 3348 3208 0 0 0 0 0 0 28.83 26.29 28.83

545 -1.25 -219.0 2401 2491 3349 3208 156.9 -32.5 40 551 0.00 1.85 0.00 0.000 260 0.000 0.054 2393 3673 3278 3349 3208 0 0 0 0 0 0 28.83 26.41 28.83

614 -1.25 -219.0 2393 3673 3350 3208 177.9 -32.4 43 620 0.00 1.70 0.00 0.000 1030 0.000 0.024 2393 2484 3280 3350 3211 0 0 0 0 0 0 28.83 26.55 28.83

933 -1.25 -219.0 2392 2483 3352 3207 274.9 -28.3 59 939 0.00 1.85 0.00 0.000 260 0.000 0.053 2383 3674 3280 3352 3208 0 0 0 0 0 0 28.83 26.48 28.83

972 -1.25 -219.0 2384 3674 3352 3208 282.1 -28.8 60 981 0.12 1.67 0.00 0.000 3078 0.162 0.024 2416 2494 3280 3352 3208 0 0 0 0 0 0 26.35 26.63 28.83

1278 -1.25 -219.0 2416 2493 3354 3208 366.6 -25.6 76 1284 0.00 1.83 0.00 0.000 260 0.000 0.054 2407 3674 3281 3354 3208 0 0 0 0 0 0 28.83 26.53 28.83

1327 -1.25 -219.0 2407 3674 3354 3208 377.8 -24.7 78 1333 0.00 1.67 0.00 0.000 1030 0.000 0.024 2407 2490 3280 3353 3208 0 0 0 0 0 0 28.83 26.67 28.83

1647 -1.25 -219.0 2407 2489 3352 3208 462.0 -25.8 94 1653 0.00 1.85 0.00 0.000 260 0.000 0.053 2398 3680 3281 3354 3208 0 0 0 0 0 0 28.83 26.55 28.83

1708 -1.25 -219.0 2398 3680 3351 3208 473.0 -24.7 96 1716 0.00 1.67 0.00 0.000 1030 0.000 0.024 2399 2495 3281 3354 3208 0 0 0 0 0 0 28.83 26.70 28.83

2013 -1.25 -219.0 2398 2493 3354 3208 549.5 -24.8 112 2019 0.00 2.03 0.00 0.000 516 0.000 0.028 2398 1102 3281 3354 3208 0 0 0 0 0 0 28.83 26.65 28.83

2031 -1.25 -219.0 2398 1102 3354 3208 549.5 -24.8 112 2040 0.12 2.12 0.00 0.000 3078 0.164 0.040 2420 2504 3281 3354 3208 0 0 0 0 0 0 26.37 26.57 28.83

2347 -1.25 -219.0 2420 2504 3354 3208 623.3 -21.6 127 2353 0.00 1.80 0.00 0.000 260 0.000 0.053 2412 3674 3281 3354 3208 0 0 0 0 0 0 28.83 26.56 28.83

2381 -1.25 -219.0 2411 3674 3354 3208 630.5 -21.4 128 2387 0.00 1.67 0.00 0.000 1030 0.000 0.024 2412 2496 3281 3354 3208 0 0 0 0 0 0 28.83 26.72 28.83

2716 -1.25 -219.0 2411 2495 3353 3208 699.0 -20.4 139 2717 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2495 3280 3353 3208 0 0 0 0 0 0 28.83 28.83 28.83

3016 -1.25 -219.0 2411 2495 3353 3205 759.6 -20.3 149 3022 0.00 2.03 0.00 0.000 516 0.000 0.029 2412 1114 3277 3353 3202 0 0 0 0 0 0 28.83 26.66 28.83

3060 -1.25 -219.0 2411 1114 3354 3205 766.5 -20.1 150 3066 0.00 2.12 0.00 0.000 1030 0.000 0.040 2401 2510 3279 3353 3205 0 0 0 0 0 0 28.83 26.58 28.83

3385 -1.25 -219.0 2401 2507 3353 3200 836.3 -20.4 161 3391 0.00 1.83 0.00 0.000 260 0.000 0.056 2392 3676 3276 3353 3199 0 0 0 0 0 0 28.83 26.55 28.83

3423 -1.25 -219.0 2392 3675 3353 3199 843.5 -20.2 162 3429 0.00 1.67 0.00 0.000 1030 0.000 0.027 2392 2499 3276 3354 3199 0 0 0 0 0 0 28.83 26.72 28.83

3752 -1.25 -219.0 2391 2499 3353 3194 910.9 -19.9 173 3753 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2499 3273 3353 3194 0 0 0 0 0 0 28.83 28.83 28.83

4052 -1.25 -219.0 2392 2498 3352 3189 969.4 -18.9 183 4054 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2499 3270 3352 3189 0 0 0 0 0 0 28.83 28.83 28.83

4080 end dive: TARGET_DEPTH_EXCEEDED

state 4080 begin apogee

4087 -0.20 0.0 2392 2005 3352 3188 975.2 -19.1 184 4431 1.08 0.00 333.83 0.750 10246 0.120 0.000 2749 2003 2377 2537 2217 0 0 0 0 0 0 26.32 28.83 24.44

4433 end apogee: CONTROL_FINISHED_OK

state 4433 begin climb

4435 1.25 219.0 2749 2003 2531 2207 997.7 0.0 195 4763 1.30 0.00 320.02 0.741 10758 0.047 0.000 3234 2003 1487 1590 1384 0 0 0 0 0 0 25.23 28.83 24.35

5042 1.25 219.0 3234 2003 1558 1354 891.5 23.9 216 5044 0.00 0.00 0.00 0.000 6 0.000 0.000 3234 2003 1456 1558 1354 0 0 0 0 0 0 28.83 28.83 28.83

5343 1.25 219.0 3234 2003 1555 1351 819.3 23.8 226 5344 0.00 0.00 0.00 0.000 6 0.000 0.000 3234 2003 1452 1555 1350 0 0 0 0 0 0 28.83 28.83 28.83

5643 1.25 219.0 3234 2003 1553 1348 751.3 22.1 236 5649 0.00 2.12 0.00 0.000 516 0.000 0.039 3245 612 1450 1553 1348 0 0 0 0 0 0 28.83 26.41 28.83

5702 1.25 219.0 3245 612 1553 1348 743.3 22.2 237 5710 0.00 2.12 0.00 0.000 1030 0.000 0.032 3245 2023 1450 1553 1348 0 0 0 0 0 0 28.83 26.45 28.83

6011 1.25 219.0 3245 2023 1551 1347 668.8 22.5 248 6017 0.00 2.15 0.00 0.000 260 0.000 0.047 3245 3408 1449 1552 1347 0 0 0 0 0 0 28.83 26.47 28.83

6064 1.25 219.0 3245 3408 1551 1347 659.7 23.2 249 6070 0.12 2.10 0.00 0.000 5126 0.179 0.029 3226 1999 1449 1551 1347 0 0 0 0 0 0 26.27 26.54 28.83

6379 1.25 219.0 3226 1998 1550 1345 585.8 22.6 261 6385 0.00 2.12 0.00 0.000 516 0.000 0.041 3236 603 1447 1550 1345 0 0 0 0 0 0 28.83 26.52 28.83

6484 1.25 219.0 3236 603 1550 1345 563.3 21.0 266 6491 0.00 2.10 0.00 0.000 1030 0.000 0.032 3236 2002 1447 1550 1345 0 0 0 0 0 0 28.83 26.55 28.83

6810 1.25 219.0 3236 2002 1549 1343 497.2 21.3 282 6816 0.00 2.17 0.00 0.000 260 0.000 0.046 3237 3408 1446 1549 1343 0 0 0 0 0 0 28.83 26.53 28.83

6843 1.25 219.0 3236 3408 1549 1344 491.9 21.0 283 6849 0.00 2.08 0.00 0.000 1030 0.000 0.029 3248 2003 1446 1549 1343 0 0 0 0 0 0 28.83 26.60 28.83

7157 1.25 219.0 3248 2003 1547 1342 427.5 17.6 299 7163 0.00 2.12 0.00 0.000 516 0.000 0.039 3259 604 1445 1548 1342 0 0 0 0 0 0 28.83 26.55 28.83

7175 1.25 219.0 3259 605 1547 1341 427.5 17.6 299 7184 0.15 2.08 0.00 0.000 5126 0.161 0.031 3219 2005 1445 1548 1342 0 0 0 0 0 0 26.32 26.59 28.83

7481 1.25 219.0 3219 2005 1547 1341 373.3 17.7 315 7487 0.00 2.12 0.00 0.000 516 0.000 0.039 3230 607 1445 1548 1343 0 0 0 0 0 0 28.83 26.56 28.83

7514 1.25 219.0 3230 607 1547 1341 369.0 17.9 316 7520 0.00 2.08 0.00 0.000 1030 0.000 0.031 3230 2007 1444 1548 1341 0 0 0 0 0 0 28.83 26.60 28.83

7828 1.25 219.0 3230 2007 1547 1341 310.0 17.7 332 7829 0.00 0.00 0.00 0.000 6 0.000 0.000 3230 2007 1444 1547 1341 0 0 0 0 0 0 28.83 28.83 28.83

8128 1.25 219.0 3230 2007 1547 1341 256.4 17.7 347 8134 0.00 2.15 0.00 0.000 260 0.000 0.046 3230 3405 1444 1548 1341 0 0 0 0 0 0 28.83 26.56 28.83

8167 1.25 219.0 3230 3405 1547 1341 252.0 17.8 348 8176 0.00 2.08 0.00 0.000 1030 0.000 0.029 3241 1997 1444 1547 1341 0 0 0 0 0 0 28.83 26.64 28.83

8473 1.25 219.0 3244 1996 1547 1341 193.5 18.1 364 8474 0.00 0.00 0.00 0.000 6 0.000 0.000 3241 1996 1444 1547 1341 0 0 0 0 0 0 28.83 28.83 28.83

8772 1.25 219.0 3241 1996 1547 1341 146.1 13.3 379 8778 0.00 2.20 0.00 0.000 260 0.000 0.046 3241 3406 1443 1548 1339 0 0 0 0 0 0 28.83 26.57 28.83

9001 1.25 219.0 3241 3406 1545 1341 106.6 17.5 390 9008 0.12 2.05 0.00 0.000 5126 0.165 0.029 3220 1997 1444 1548 1341 0 0 0 0 0 0 26.39 26.65 28.83

9328 1.25 219.0 3220 1997 1548 1341 60.1 14.3 406 9334 0.00 2.17 0.00 0.000 260 0.000 0.046 3220 3402 1444 1548 1341 0 0 0 0 0 0 28.83 26.57 28.83

9460 1.25 219.0 3220 3402 1548 1341 39.8 14.8 415 9468 0.00 2.05 0.00 0.000 1030 0.000 0.028 3231 1997 1444 1548 1341 0 0 0 0 0 0 28.83 26.66 28.83

9761 end climb: SURFACE_DEPTH_REACHED

state 9761 begin surface coast

9784 end surface coast: CONTROL_FINISHED_OK

state 9784 begin surface

ID	171	HEADING	280	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	208	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_SURF	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	970	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	61	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	37	XPDR_VALID	2
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	400	XPDR_INHIBIT	90
D_BOOST	20	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	3	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	415	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3400	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2380	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	370	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0035000001	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-20779.363	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-9	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	154	MINV_24V	22	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3952	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	225	C_PITCH	2820	FG_AHR_10V	0	SEABIRD_T_G	0.0043708701
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064764963
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.5888983e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-74.53199	SEABIRD_T_J	2.7074855e-06
RHO	1.0275	PITCH_GAIN	25	PRESSURE_SLOPE	0.0001165165	SEABIRD_C_G	-10.475479
MASS	52107	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.2050543
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015894541
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021379974
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	181	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	9.9999997e-06	ROLL_MAX	3676	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	270313,022235,2205.765,12310.108,40,0.9,41,-2.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2207.645,12258.753
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270313,022844,2205.770,12310.233,13,1.4,14,-2.9	MHEAD_RNG_PITCHd_Wd	282.9,20000,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	5314

FINISH	0.5,1.023102	_24V_AH	24.4,30.494
SM_CCo	9802,83.72,0.060,0,0,747,400.08	_10V_AH	10.3,21.284
SM_GC	1.42,7.82,0.77,83.72,0.029,0.047,0.060,117,2498,747,-8.29,-1.24,400.08,0,0,0,0,0,0,26.67,26.60,26.42	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2155.06,12311.08,260313,232312	FG_AHR_10Vo	0.000
TT8_MAMPS	0.047936,0.047936	MEM	329760
HUMID	44.99	DATA_FILE_SIZE	16794,466
INTERNAL_PRESSURE	9.62297	CAP_FILE_SIZE	244027,0
TCM_TEMP	23.40	CFSIZE	260034560,232300544
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3954016	GPS	270313,051506,2206.156,12308.907,31,1.2,32,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	218	104.67	nil	0	0	0.00
Roll_motor	73	55	99.78	nil	0	0	0.00
VBD_pump_during_apogee	653	750	11972.87	nil	0	0	0.00
VBD_pump_during_surface	83	59	121.90	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	9777	4	954.47
Iridium_during_xfer	220	123	666.47	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	27	4.45
TT8	1768	35	654.31
LPSleep	6044	2	136.35
TT8_Active	770	35	285.19
TT8_Sampling	1396	58	840.15
TT8_CF8	272	65	184.77
TT8_Kalman	0	0	0.00
Analog_circuits	1695	15	261.96
GPS_charging	0	0	0.00
Compass	1106	5	68.27
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.25	-219.0	126	2497	840	661	0.0	0.0	0	86	0.00	0.00	-65.57	0.000	16386	0.000	0.000	126	2497	2619	2685	2553	0	0	0	0	0	0	28.83	28.83	28.83
89	-1.25	-219.0	126	2497	2687	2554	4.1	-7.0	9	120	8.82	2.15	-11.32	0.000	18948	0.218	0.045	2412	1093	3276	3345	3208	0	0	0	0	0	0	25.82	26.29	26.60
226	-1.25	-219.0	2412	1093	3347	3207	51.8	-30.9	24	232	0.00	2.15	0.00	0.000	1030	0.000	0.041	2402	2491	3278	3348	3208	0	0	0	0	0	0	28.83	26.29	28.83
545	-1.25	-219.0	2401	2491	3349	3208	156.9	-32.5	40	551	0.00	1.85	0.00	0.000	260	0.000	0.054	2393	3673	3278	3349	3208	0	0	0	0	0	0	28.83	26.41	28.83
614	-1.25	-219.0	2393	3673	3350	3208	177.9	-32.4	43	620	0.00	1.70	0.00	0.000	1030	0.000	0.024	2393	2484	3280	3350	3211	0	0	0	0	0	0	28.83	26.55	28.83
933	-1.25	-219.0	2392	2483	3352	3207	274.9	-28.3	59	939	0.00	1.85	0.00	0.000	260	0.000	0.053	2383	3674	3280	3352	3208	0	0	0	0	0	0	28.83	26.48	28.83
972	-1.25	-219.0	2384	3674	3352	3208	282.1	-28.8	60	981	0.12	1.67	0.00	0.000	3078	0.162	0.024	2416	2494	3280	3352	3208	0	0	0	0	0	0	26.35	26.63	28.83
1278	-1.25	-219.0	2416	2493	3354	3208	366.6	-25.6	76	1284	0.00	1.83	0.00	0.000	260	0.000	0.054	2407	3674	3281	3354	3208	0	0	0	0	0	0	28.83	26.53	28.83
1327	-1.25	-219.0	2407	3674	3354	3208	377.8	-24.7	78	1333	0.00	1.67	0.00	0.000	1030	0.000	0.024	2407	2490	3280	3353	3208	0	0	0	0	0	0	28.83	26.67	28.83
1647	-1.25	-219.0	2407	2489	3352	3208	462.0	-25.8	94	1653	0.00	1.85	0.00	0.000	260	0.000	0.053	2398	3680	3281	3354	3208	0	0	0	0	0	0	28.83	26.55	28.83
1708	-1.25	-219.0	2398	3680	3351	3208	473.0	-24.7	96	1716	0.00	1.67	0.00	0.000	1030	0.000	0.024	2399	2495	3281	3354	3208	0	0	0	0	0	0	28.83	26.70	28.83
2013	-1.25	-219.0	2398	2493	3354	3208	549.5	-24.8	112	2019	0.00	2.03	0.00	0.000	516	0.000	0.028	2398	1102	3281	3354	3208	0	0	0	0	0	0	28.83	26.65	28.83
2031	-1.25	-219.0	2398	1102	3354	3208	549.5	-24.8	112	2040	0.12	2.12	0.00	0.000	3078	0.164	0.040	2420	2504	3281	3354	3208	0	0	0	0	0	0	26.37	26.57	28.83
2347	-1.25	-219.0	2420	2504	3354	3208	623.3	-21.6	127	2353	0.00	1.80	0.00	0.000	260	0.000	0.053	2412	3674	3281	3354	3208	0	0	0	0	0	0	28.83	26.56	28.83
2381	-1.25	-219.0	2411	3674	3354	3208	630.5	-21.4	128	2387	0.00	1.67	0.00	0.000	1030	0.000	0.024	2412	2496	3281	3354	3208	0	0	0	0	0	0	28.83	26.72	28.83
2716	-1.25	-219.0	2411	2495	3353	3208	699.0	-20.4	139	2717	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2495	3280	3353	3208	0	0	0	0	0	0	28.83	28.83	28.83
3016	-1.25	-219.0	2411	2495	3353	3205	759.6	-20.3	149	3022	0.00	2.03	0.00	0.000	516	0.000	0.029	2412	1114	3277	3353	3202	0	0	0	0	0	0	28.83	26.66	28.83
3060	-1.25	-219.0	2411	1114	3354	3205	766.5	-20.1	150	3066	0.00	2.12	0.00	0.000	1030	0.000	0.040	2401	2510	3279	3353	3205	0	0	0	0	0	0	28.83	26.58	28.83
3385	-1.25	-219.0	2401	2507	3353	3200	836.3	-20.4	161	3391	0.00	1.83	0.00	0.000	260	0.000	0.056	2392	3676	3276	3353	3199	0	0	0	0	0	0	28.83	26.55	28.83
3423	-1.25	-219.0	2392	3675	3353	3199	843.5	-20.2	162	3429	0.00	1.67	0.00	0.000	1030	0.000	0.027	2392	2499	3276	3354	3199	0	0	0	0	0	0	28.83	26.72	28.83
3752	-1.25	-219.0	2391	2499	3353	3194	910.9	-19.9	173	3753	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2499	3273	3353	3194	0	0	0	0	0	0	28.83	28.83	28.83
4052	-1.25	-219.0	2392	2498	3352	3189	969.4	-18.9	183	4054	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2499	3270	3352	3189	0	0	0	0	0	0	28.83	28.83	28.83
4080	end dive: TARGET_DEPTH_EXCEEDED
state	4080	begin apogee
4087	-0.20	0.0	2392	2005	3352	3188	975.2	-19.1	184	4431	1.08	0.00	333.83	0.750	10246	0.120	0.000	2749	2003	2377	2537	2217	0	0	0	0	0	0	26.32	28.83	24.44
4433	end apogee: CONTROL_FINISHED_OK
state	4433	begin climb
4435	1.25	219.0	2749	2003	2531	2207	997.7	0.0	195	4763	1.30	0.00	320.02	0.741	10758	0.047	0.000	3234	2003	1487	1590	1384	0	0	0	0	0	0	25.23	28.83	24.35
5042	1.25	219.0	3234	2003	1558	1354	891.5	23.9	216	5044	0.00	0.00	0.00	0.000	6	0.000	0.000	3234	2003	1456	1558	1354	0	0	0	0	0	0	28.83	28.83	28.83
5343	1.25	219.0	3234	2003	1555	1351	819.3	23.8	226	5344	0.00	0.00	0.00	0.000	6	0.000	0.000	3234	2003	1452	1555	1350	0	0	0	0	0	0	28.83	28.83	28.83
5643	1.25	219.0	3234	2003	1553	1348	751.3	22.1	236	5649	0.00	2.12	0.00	0.000	516	0.000	0.039	3245	612	1450	1553	1348	0	0	0	0	0	0	28.83	26.41	28.83
5702	1.25	219.0	3245	612	1553	1348	743.3	22.2	237	5710	0.00	2.12	0.00	0.000	1030	0.000	0.032	3245	2023	1450	1553	1348	0	0	0	0	0	0	28.83	26.45	28.83
6011	1.25	219.0	3245	2023	1551	1347	668.8	22.5	248	6017	0.00	2.15	0.00	0.000	260	0.000	0.047	3245	3408	1449	1552	1347	0	0	0	0	0	0	28.83	26.47	28.83
6064	1.25	219.0	3245	3408	1551	1347	659.7	23.2	249	6070	0.12	2.10	0.00	0.000	5126	0.179	0.029	3226	1999	1449	1551	1347	0	0	0	0	0	0	26.27	26.54	28.83
6379	1.25	219.0	3226	1998	1550	1345	585.8	22.6	261	6385	0.00	2.12	0.00	0.000	516	0.000	0.041	3236	603	1447	1550	1345	0	0	0	0	0	0	28.83	26.52	28.83
6484	1.25	219.0	3236	603	1550	1345	563.3	21.0	266	6491	0.00	2.10	0.00	0.000	1030	0.000	0.032	3236	2002	1447	1550	1345	0	0	0	0	0	0	28.83	26.55	28.83
6810	1.25	219.0	3236	2002	1549	1343	497.2	21.3	282	6816	0.00	2.17	0.00	0.000	260	0.000	0.046	3237	3408	1446	1549	1343	0	0	0	0	0	0	28.83	26.53	28.83
6843	1.25	219.0	3236	3408	1549	1344	491.9	21.0	283	6849	0.00	2.08	0.00	0.000	1030	0.000	0.029	3248	2003	1446	1549	1343	0	0	0	0	0	0	28.83	26.60	28.83
7157	1.25	219.0	3248	2003	1547	1342	427.5	17.6	299	7163	0.00	2.12	0.00	0.000	516	0.000	0.039	3259	604	1445	1548	1342	0	0	0	0	0	0	28.83	26.55	28.83
7175	1.25	219.0	3259	605	1547	1341	427.5	17.6	299	7184	0.15	2.08	0.00	0.000	5126	0.161	0.031	3219	2005	1445	1548	1342	0	0	0	0	0	0	26.32	26.59	28.83
7481	1.25	219.0	3219	2005	1547	1341	373.3	17.7	315	7487	0.00	2.12	0.00	0.000	516	0.000	0.039	3230	607	1445	1548	1343	0	0	0	0	0	0	28.83	26.56	28.83
7514	1.25	219.0	3230	607	1547	1341	369.0	17.9	316	7520	0.00	2.08	0.00	0.000	1030	0.000	0.031	3230	2007	1444	1548	1341	0	0	0	0	0	0	28.83	26.60	28.83
7828	1.25	219.0	3230	2007	1547	1341	310.0	17.7	332	7829	0.00	0.00	0.00	0.000	6	0.000	0.000	3230	2007	1444	1547	1341	0	0	0	0	0	0	28.83	28.83	28.83
8128	1.25	219.0	3230	2007	1547	1341	256.4	17.7	347	8134	0.00	2.15	0.00	0.000	260	0.000	0.046	3230	3405	1444	1548	1341	0	0	0	0	0	0	28.83	26.56	28.83
8167	1.25	219.0	3230	3405	1547	1341	252.0	17.8	348	8176	0.00	2.08	0.00	0.000	1030	0.000	0.029	3241	1997	1444	1547	1341	0	0	0	0	0	0	28.83	26.64	28.83
8473	1.25	219.0	3244	1996	1547	1341	193.5	18.1	364	8474	0.00	0.00	0.00	0.000	6	0.000	0.000	3241	1996	1444	1547	1341	0	0	0	0	0	0	28.83	28.83	28.83
8772	1.25	219.0	3241	1996	1547	1341	146.1	13.3	379	8778	0.00	2.20	0.00	0.000	260	0.000	0.046	3241	3406	1443	1548	1339	0	0	0	0	0	0	28.83	26.57	28.83
9001	1.25	219.0	3241	3406	1545	1341	106.6	17.5	390	9008	0.12	2.05	0.00	0.000	5126	0.165	0.029	3220	1997	1444	1548	1341	0	0	0	0	0	0	26.39	26.65	28.83
9328	1.25	219.0	3220	1997	1548	1341	60.1	14.3	406	9334	0.00	2.17	0.00	0.000	260	0.000	0.046	3220	3402	1444	1548	1341	0	0	0	0	0	0	28.83	26.57	28.83
9460	1.25	219.0	3220	3402	1548	1341	39.8	14.8	415	9468	0.00	2.05	0.00	0.000	1030	0.000	0.028	3231	1997	1444	1548	1341	0	0	0	0	0	0	28.83	26.66	28.83
9761	end climb: SURFACE_DEPTH_REACHED
state	9761	begin surface coast
9784	end surface coast: CONTROL_FINISHED_OK
state	9784	begin surface