Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 213 * 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 213 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 59 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 31 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 -20786.844 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 -20786.844

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 59 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 31 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 213 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 270313,165807,2207.874,12303.495,10,2.0,11,-2.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2209.724,12251.987

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270313,170403,2207.849,12303.471,15,2.7,34,-2.9 MHEAD_RNG_PITCHd_Wd 282.9,20000,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 3923

Post-dive calculations and measurements:

FINISH 0.4,1.008775 _24V_AH 24.1,31.194

SM_CCo 9674,83.53,0.059,0,0,748,400.08 _10V_AH 10.2,21.691

SM_GC 1.28,7.95,1.35,83.53,0.035,0.027,0.059,131,2489,748,-8.30,1.70,400.08,0,0,0,0,0,0,26.64,26.70,26.41 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2159.71,12305.92,270313,141424 FG_AHR_10Vo 0.000

TT8_MAMPS 0.047936,0.047936 MEM 329760

HUMID 45.58 DATA_FILE_SIZE 16796,454

INTERNAL_PRESSURE 9.62297 CAP_FILE_SIZE 248547,0

TCM_TEMP 23.30 CFSIZE 260034560,231854080

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

SC_FREEKB 3952416 GPS 270313,194815,2208.208,12301.922,9,2.7,29,-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 84 69 141.18 nil 0 0 0.00

VBD_pump_during_apogee 568 888 12188.74 nil 0 0 0.00

VBD_pump_during_surface 83 58 118.57 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 9649 3 924.35

Iridium_during_xfer 186 124 560.99 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 27 10.39

TT8 1809 35 663.17

LPSleep 5902 2 131.84

TT8_Active 681 35 249.61

TT8_Sampling 1435 58 855.29

TT8_CF8 280 65 188.46

TT8_Kalman 0 0 0.00

Analog_circuits 1604 15 245.43

GPS_charging 0 0 0.00

Compass 1157 5 70.69

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.25 -219.0 113 2492 833 663 0.0 0.0 0 85 0.00 0.00 -64.82 0.000 16386 0.000 0.000 113 2493 2576 2643 2510 0 0 0 0 0 0 28.83 28.83 28.83

88 -1.25 -219.0 113 2493 2646 2510 3.5 -4.5 9 120 8.90 1.90 -12.20 0.000 18692 0.219 0.070 2403 3665 3277 3345 3209 0 0 0 0 0 0 25.84 26.23 26.63

242 -1.25 -219.0 2404 3666 3348 3209 62.1 -31.9 25 248 0.00 1.70 0.00 0.000 1030 0.000 0.026 2404 2496 3278 3349 3208 0 0 0 0 0 0 28.83 26.44 28.83

567 -1.25 -219.0 2404 2495 3350 3208 170.1 -31.3 41 573 0.00 1.83 0.00 0.000 260 0.000 0.050 2395 3673 3279 3350 3209 0 0 0 0 0 0 28.83 26.42 28.83

673 -1.25 -219.0 2395 3673 3351 3209 201.4 -29.2 46 679 0.00 1.73 0.00 0.000 1030 0.000 0.024 2394 2495 3280 3351 3209 0 0 0 0 0 0 28.83 26.58 28.83

998 -1.25 -219.0 2395 2494 3354 3209 296.2 -29.4 62 1004 0.00 1.83 0.00 0.000 260 0.000 0.051 2386 3673 3281 3354 3209 0 0 0 0 0 0 28.83 26.50 28.83

1094 -1.25 -219.0 2386 3673 3354 3209 321.9 -29.4 66 1101 0.08 1.73 0.00 0.000 3078 0.142 0.024 2412 2489 3281 3354 3209 0 0 0 0 0 0 26.36 26.65 28.83

1411 -1.25 -219.0 2412 2487 3355 3209 410.1 -24.8 82 1417 0.00 1.83 0.00 0.000 260 0.000 0.052 2404 3673 3282 3355 3209 0 0 0 0 0 0 28.83 26.53 28.83

1450 -1.25 -219.0 2404 3673 3355 3209 416.5 -24.5 83 1458 0.00 1.67 0.00 0.000 1030 0.000 0.024 2404 2492 3282 3355 3209 0 0 0 0 0 0 28.83 26.67 28.83

1756 -1.25 -219.0 2404 2489 3355 3209 492.4 -22.6 99 1761 0.00 2.00 0.00 0.000 516 0.000 0.028 2404 1109 3280 3352 3209 0 0 0 0 0 0 28.83 26.63 28.83

1783 -1.25 -219.0 2404 1109 3355 3209 497.8 -22.3 100 1788 0.00 2.10 0.00 0.000 1030 0.000 0.037 2393 2501 3282 3355 3209 0 0 0 0 0 0 28.83 26.55 28.83

2103 -1.25 -219.0 2393 2501 3355 3209 569.7 -22.6 116 2109 0.00 2.05 0.00 0.000 516 0.000 0.029 2393 1111 3282 3355 3209 0 0 0 0 0 0 28.83 26.64 28.83

2157 -1.25 -219.0 2393 1110 3355 3209 579.7 -22.2 118 2164 0.12 2.10 0.00 0.000 3078 0.166 0.038 2415 2502 3282 3355 3209 0 0 0 0 0 0 26.36 26.57 28.83

2493 -1.25 -219.0 2414 2501 3355 3209 651.0 -20.7 131 2498 0.00 1.80 0.00 0.000 260 0.000 0.053 2406 3671 3282 3355 3209 0 0 0 0 0 0 28.83 26.55 28.83

2557 -1.25 -219.0 2407 3671 3355 3209 664.0 -20.6 133 2563 0.00 1.67 0.00 0.000 1030 0.000 0.026 2407 2496 3281 3355 3208 0 0 0 0 0 0 28.83 26.71 28.83

2891 -1.25 -219.0 2406 2495 3355 3205 733.1 -22.0 144 2897 0.00 2.03 0.00 0.000 516 0.000 0.029 2408 1109 3280 3355 3205 0 0 0 0 0 0 28.83 26.65 28.83

2908 -1.25 -219.0 2406 1109 3355 3205 733.1 -22.0 144 2915 0.00 2.12 0.00 0.000 1030 0.000 0.038 2396 2502 3280 3355 3205 0 0 0 0 0 0 28.83 26.57 28.83

3228 -1.25 -219.0 2396 2501 3355 3205 811.5 -22.6 155 3229 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2501 3278 3355 3201 0 0 0 0 0 0 28.83 28.83 28.83

3528 -1.25 -219.0 2396 2502 3355 3196 872.6 -19.7 165 3534 0.00 1.83 0.00 0.000 260 0.000 0.054 2387 3671 3275 3355 3196 0 0 0 0 0 0 28.83 26.54 28.83

3572 -1.25 -219.0 2387 3671 3354 3196 879.8 -20.1 166 3579 0.12 1.67 0.00 0.000 3078 0.153 0.027 2420 2499 3275 3355 3195 0 0 0 0 0 0 26.41 26.72 28.83

3897 -1.25 -219.0 2420 2498 3354 3191 943.1 -18.7 177 3903 0.00 2.05 0.00 0.000 516 0.000 0.031 2420 1112 3271 3354 3188 0 0 0 0 0 0 28.83 26.63 28.83

3925 -1.25 -219.0 2420 1112 3354 3190 943.1 -18.7 177 3933 0.00 2.12 0.00 0.000 1030 0.000 0.040 2410 2503 3272 3354 3190 0 0 0 0 0 0 28.83 26.55 28.83

4050 end dive: TARGET_DEPTH_EXCEEDED

state 4050 begin apogee

4056 -0.20 0.0 2410 1994 3353 3189 972.9 -19.4 182 4400 1.02 0.00 335.02 0.744 10246 0.119 0.000 2751 1991 2380 2540 2220 0 0 0 0 0 0 26.28 28.83 24.45

4402 end apogee: CONTROL_FINISHED_OK

state 4402 begin climb

4404 1.25 219.0 2751 1991 2531 2208 993.2 0.0 193 4651 1.27 2.20 233.93 0.889 10756 0.047 0.036 3240 632 1473 1577 1369 0 0 0 0 0 0 25.22 24.85 24.13

4698 1.25 219.0 3240 630 1559 1353 956.3 21.1 202 4704 0.00 2.15 0.00 0.000 1030 0.000 0.031 3240 2009 1455 1558 1353 0 0 0 0 0 0 28.83 25.34 28.83

5017 1.25 219.0 3239 2009 1550 1346 877.2 22.8 213 5019 0.00 0.00 0.00 0.000 6 0.000 0.000 3240 2009 1448 1550 1346 0 0 0 0 0 0 28.83 28.83 28.83

5317 1.25 219.0 3240 2009 1547 1345 805.3 24.3 223 5323 0.00 2.17 0.00 0.000 260 0.000 0.046 3240 3408 1446 1547 1345 0 0 0 0 0 0 28.83 26.32 28.83

5330 1.25 219.0 3243 3407 1547 1345 805.3 24.3 223 5337 0.12 2.08 0.00 0.000 5126 0.177 0.028 3220 2012 1446 1547 1345 0 0 0 0 0 0 26.13 26.38 28.83

5655 1.25 219.0 3220 2012 1546 1342 726.3 23.2 234 5656 0.00 0.00 0.00 0.000 6 0.000 0.000 3220 2012 1444 1547 1342 0 0 0 0 0 0 28.83 28.83 28.83

5955 1.25 219.0 3220 2012 1545 1341 656.4 23.8 244 5956 0.00 0.00 0.00 0.000 6 0.000 0.000 3220 2012 1443 1546 1341 0 0 0 0 0 0 28.83 28.83 28.83

6256 1.25 219.0 3220 2010 1545 1340 586.2 22.3 255 6262 0.00 2.17 0.00 0.000 260 0.000 0.047 3221 3406 1442 1545 1340 0 0 0 0 0 0 28.83 26.50 28.83

6345 1.25 219.0 3220 3406 1545 1339 565.4 24.0 259 6351 0.00 2.08 0.00 0.000 1030 0.000 0.029 3231 2003 1442 1544 1340 0 0 0 0 0 0 28.83 26.58 28.83

6666 1.25 219.0 3231 2002 1543 1338 496.9 19.6 275 6672 0.00 2.12 0.00 0.000 516 0.000 0.040 3243 609 1440 1543 1337 0 0 0 0 0 0 28.83 26.53 28.83

6793 1.25 219.0 3243 609 1542 1338 469.2 21.7 281 6799 0.00 2.08 0.00 0.000 1030 0.000 0.030 3243 2009 1440 1542 1338 0 0 0 0 0 0 28.83 26.59 28.83

7118 1.25 219.0 3243 2009 1541 1337 406.5 19.7 297 7125 0.00 2.15 0.00 0.000 516 0.000 0.040 3254 606 1438 1540 1337 0 0 0 0 0 0 28.83 26.55 28.83

7184 1.25 219.0 3254 606 1541 1337 393.0 20.0 300 7191 0.12 2.08 0.00 0.000 5126 0.170 0.031 3221 2001 1438 1540 1337 0 0 0 0 0 0 26.32 26.59 28.83

7511 1.25 219.0 3222 2000 1541 1336 336.0 16.8 316 7517 0.00 2.17 0.00 0.000 260 0.000 0.047 3222 3404 1438 1541 1336 0 0 0 0 0 0 28.83 26.54 28.83

7565 1.25 219.0 3222 3403 1540 1336 327.7 17.5 318 7572 0.00 2.08 0.00 0.000 1030 0.000 0.029 3233 1995 1438 1540 1336 0 0 0 0 0 0 28.83 26.63 28.83

7880 1.25 219.0 3233 1995 1540 1334 268.6 17.4 334 7886 0.00 2.17 0.00 0.000 260 0.000 0.046 3233 3400 1437 1540 1334 0 0 0 0 0 0 28.83 26.54 28.83

7930 1.25 219.0 3233 3401 1540 1334 260.9 17.1 336 7936 0.00 2.05 0.00 0.000 1030 0.000 0.028 3244 2000 1437 1540 1334 0 0 0 0 0 0 28.83 26.63 28.83

8250 1.25 219.0 3244 2000 1541 1334 206.2 16.0 352 8256 0.00 2.10 0.00 0.000 516 0.000 0.040 3258 606 1437 1541 1334 0 0 0 0 0 0 28.83 26.56 28.83

8417 1.25 219.0 3255 606 1540 1334 176.7 17.1 360 8424 0.12 2.05 0.00 0.000 5126 0.164 0.030 3223 2002 1437 1540 1334 0 0 0 0 0 0 26.35 26.62 28.83

8744 1.25 219.0 3222 2002 1540 1335 126.5 15.2 376 8750 0.00 2.15 0.00 0.000 260 0.000 0.045 3222 3401 1437 1541 1334 0 0 0 0 0 0 28.83 26.55 28.83

8803 1.25 219.0 3222 3400 1540 1335 119.1 15.8 378 8811 0.00 2.05 0.00 0.000 1030 0.000 0.028 3234 1997 1437 1541 1334 0 0 0 0 0 0 28.83 26.65 28.83

9111 1.25 219.0 3234 1996 1541 1334 74.1 13.3 394 9116 0.00 2.08 0.00 0.000 516 0.000 0.038 3244 612 1437 1541 1334 0 0 0 0 0 0 28.83 26.57 28.83

9150 1.25 219.0 3244 612 1540 1334 70.6 13.4 395 9158 0.00 2.05 0.00 0.000 1030 0.000 0.030 3244 2007 1437 1541 1334 0 0 0 0 0 0 28.83 26.61 28.83

9458 1.25 219.0 3245 2007 1541 1334 28.0 14.1 419 9464 0.00 2.12 0.00 0.000 260 0.000 0.045 3245 3400 1437 1541 1334 0 0 0 0 0 0 28.83 26.55 28.83

9632 end climb: SURFACE_DEPTH_REACHED

state 9632 begin surface coast

9656 end surface coast: CONTROL_FINISHED_OK

state 9656 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	213	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	59	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	31	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	-20786.844	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	270313,165807,2207.874,12303.495,10,2.0,11,-2.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2209.724,12251.987
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270313,170403,2207.849,12303.471,15,2.7,34,-2.9	MHEAD_RNG_PITCHd_Wd	282.9,20000,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	3923

FINISH	0.4,1.008775	_24V_AH	24.1,31.194
SM_CCo	9674,83.53,0.059,0,0,748,400.08	_10V_AH	10.2,21.691
SM_GC	1.28,7.95,1.35,83.53,0.035,0.027,0.059,131,2489,748,-8.30,1.70,400.08,0,0,0,0,0,0,26.64,26.70,26.41	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2159.71,12305.92,270313,141424	FG_AHR_10Vo	0.000
TT8_MAMPS	0.047936,0.047936	MEM	329760
HUMID	45.58	DATA_FILE_SIZE	16796,454
INTERNAL_PRESSURE	9.62297	CAP_FILE_SIZE	248547,0
TCM_TEMP	23.30	CFSIZE	260034560,231854080
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3952416	GPS	270313,194815,2208.208,12301.922,9,2.7,29,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	218	104.67	nil	0	0	0.00
Roll_motor	84	69	141.18	nil	0	0	0.00
VBD_pump_during_apogee	568	888	12188.74	nil	0	0	0.00
VBD_pump_during_surface	83	58	118.57	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	9649	3	924.35
Iridium_during_xfer	186	124	560.99	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	27	10.39
TT8	1809	35	663.17
LPSleep	5902	2	131.84
TT8_Active	681	35	249.61
TT8_Sampling	1435	58	855.29
TT8_CF8	280	65	188.46
TT8_Kalman	0	0	0.00
Analog_circuits	1604	15	245.43
GPS_charging	0	0	0.00
Compass	1157	5	70.69
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.25	-219.0	113	2492	833	663	0.0	0.0	0	85	0.00	0.00	-64.82	0.000	16386	0.000	0.000	113	2493	2576	2643	2510	0	0	0	0	0	0	28.83	28.83	28.83
88	-1.25	-219.0	113	2493	2646	2510	3.5	-4.5	9	120	8.90	1.90	-12.20	0.000	18692	0.219	0.070	2403	3665	3277	3345	3209	0	0	0	0	0	0	25.84	26.23	26.63
242	-1.25	-219.0	2404	3666	3348	3209	62.1	-31.9	25	248	0.00	1.70	0.00	0.000	1030	0.000	0.026	2404	2496	3278	3349	3208	0	0	0	0	0	0	28.83	26.44	28.83
567	-1.25	-219.0	2404	2495	3350	3208	170.1	-31.3	41	573	0.00	1.83	0.00	0.000	260	0.000	0.050	2395	3673	3279	3350	3209	0	0	0	0	0	0	28.83	26.42	28.83
673	-1.25	-219.0	2395	3673	3351	3209	201.4	-29.2	46	679	0.00	1.73	0.00	0.000	1030	0.000	0.024	2394	2495	3280	3351	3209	0	0	0	0	0	0	28.83	26.58	28.83
998	-1.25	-219.0	2395	2494	3354	3209	296.2	-29.4	62	1004	0.00	1.83	0.00	0.000	260	0.000	0.051	2386	3673	3281	3354	3209	0	0	0	0	0	0	28.83	26.50	28.83
1094	-1.25	-219.0	2386	3673	3354	3209	321.9	-29.4	66	1101	0.08	1.73	0.00	0.000	3078	0.142	0.024	2412	2489	3281	3354	3209	0	0	0	0	0	0	26.36	26.65	28.83
1411	-1.25	-219.0	2412	2487	3355	3209	410.1	-24.8	82	1417	0.00	1.83	0.00	0.000	260	0.000	0.052	2404	3673	3282	3355	3209	0	0	0	0	0	0	28.83	26.53	28.83
1450	-1.25	-219.0	2404	3673	3355	3209	416.5	-24.5	83	1458	0.00	1.67	0.00	0.000	1030	0.000	0.024	2404	2492	3282	3355	3209	0	0	0	0	0	0	28.83	26.67	28.83
1756	-1.25	-219.0	2404	2489	3355	3209	492.4	-22.6	99	1761	0.00	2.00	0.00	0.000	516	0.000	0.028	2404	1109	3280	3352	3209	0	0	0	0	0	0	28.83	26.63	28.83
1783	-1.25	-219.0	2404	1109	3355	3209	497.8	-22.3	100	1788	0.00	2.10	0.00	0.000	1030	0.000	0.037	2393	2501	3282	3355	3209	0	0	0	0	0	0	28.83	26.55	28.83
2103	-1.25	-219.0	2393	2501	3355	3209	569.7	-22.6	116	2109	0.00	2.05	0.00	0.000	516	0.000	0.029	2393	1111	3282	3355	3209	0	0	0	0	0	0	28.83	26.64	28.83
2157	-1.25	-219.0	2393	1110	3355	3209	579.7	-22.2	118	2164	0.12	2.10	0.00	0.000	3078	0.166	0.038	2415	2502	3282	3355	3209	0	0	0	0	0	0	26.36	26.57	28.83
2493	-1.25	-219.0	2414	2501	3355	3209	651.0	-20.7	131	2498	0.00	1.80	0.00	0.000	260	0.000	0.053	2406	3671	3282	3355	3209	0	0	0	0	0	0	28.83	26.55	28.83
2557	-1.25	-219.0	2407	3671	3355	3209	664.0	-20.6	133	2563	0.00	1.67	0.00	0.000	1030	0.000	0.026	2407	2496	3281	3355	3208	0	0	0	0	0	0	28.83	26.71	28.83
2891	-1.25	-219.0	2406	2495	3355	3205	733.1	-22.0	144	2897	0.00	2.03	0.00	0.000	516	0.000	0.029	2408	1109	3280	3355	3205	0	0	0	0	0	0	28.83	26.65	28.83
2908	-1.25	-219.0	2406	1109	3355	3205	733.1	-22.0	144	2915	0.00	2.12	0.00	0.000	1030	0.000	0.038	2396	2502	3280	3355	3205	0	0	0	0	0	0	28.83	26.57	28.83
3228	-1.25	-219.0	2396	2501	3355	3205	811.5	-22.6	155	3229	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2501	3278	3355	3201	0	0	0	0	0	0	28.83	28.83	28.83
3528	-1.25	-219.0	2396	2502	3355	3196	872.6	-19.7	165	3534	0.00	1.83	0.00	0.000	260	0.000	0.054	2387	3671	3275	3355	3196	0	0	0	0	0	0	28.83	26.54	28.83
3572	-1.25	-219.0	2387	3671	3354	3196	879.8	-20.1	166	3579	0.12	1.67	0.00	0.000	3078	0.153	0.027	2420	2499	3275	3355	3195	0	0	0	0	0	0	26.41	26.72	28.83
3897	-1.25	-219.0	2420	2498	3354	3191	943.1	-18.7	177	3903	0.00	2.05	0.00	0.000	516	0.000	0.031	2420	1112	3271	3354	3188	0	0	0	0	0	0	28.83	26.63	28.83
3925	-1.25	-219.0	2420	1112	3354	3190	943.1	-18.7	177	3933	0.00	2.12	0.00	0.000	1030	0.000	0.040	2410	2503	3272	3354	3190	0	0	0	0	0	0	28.83	26.55	28.83
4050	end dive: TARGET_DEPTH_EXCEEDED
state	4050	begin apogee
4056	-0.20	0.0	2410	1994	3353	3189	972.9	-19.4	182	4400	1.02	0.00	335.02	0.744	10246	0.119	0.000	2751	1991	2380	2540	2220	0	0	0	0	0	0	26.28	28.83	24.45
4402	end apogee: CONTROL_FINISHED_OK
state	4402	begin climb
4404	1.25	219.0	2751	1991	2531	2208	993.2	0.0	193	4651	1.27	2.20	233.93	0.889	10756	0.047	0.036	3240	632	1473	1577	1369	0	0	0	0	0	0	25.22	24.85	24.13
4698	1.25	219.0	3240	630	1559	1353	956.3	21.1	202	4704	0.00	2.15	0.00	0.000	1030	0.000	0.031	3240	2009	1455	1558	1353	0	0	0	0	0	0	28.83	25.34	28.83
5017	1.25	219.0	3239	2009	1550	1346	877.2	22.8	213	5019	0.00	0.00	0.00	0.000	6	0.000	0.000	3240	2009	1448	1550	1346	0	0	0	0	0	0	28.83	28.83	28.83
5317	1.25	219.0	3240	2009	1547	1345	805.3	24.3	223	5323	0.00	2.17	0.00	0.000	260	0.000	0.046	3240	3408	1446	1547	1345	0	0	0	0	0	0	28.83	26.32	28.83
5330	1.25	219.0	3243	3407	1547	1345	805.3	24.3	223	5337	0.12	2.08	0.00	0.000	5126	0.177	0.028	3220	2012	1446	1547	1345	0	0	0	0	0	0	26.13	26.38	28.83
5655	1.25	219.0	3220	2012	1546	1342	726.3	23.2	234	5656	0.00	0.00	0.00	0.000	6	0.000	0.000	3220	2012	1444	1547	1342	0	0	0	0	0	0	28.83	28.83	28.83
5955	1.25	219.0	3220	2012	1545	1341	656.4	23.8	244	5956	0.00	0.00	0.00	0.000	6	0.000	0.000	3220	2012	1443	1546	1341	0	0	0	0	0	0	28.83	28.83	28.83
6256	1.25	219.0	3220	2010	1545	1340	586.2	22.3	255	6262	0.00	2.17	0.00	0.000	260	0.000	0.047	3221	3406	1442	1545	1340	0	0	0	0	0	0	28.83	26.50	28.83
6345	1.25	219.0	3220	3406	1545	1339	565.4	24.0	259	6351	0.00	2.08	0.00	0.000	1030	0.000	0.029	3231	2003	1442	1544	1340	0	0	0	0	0	0	28.83	26.58	28.83
6666	1.25	219.0	3231	2002	1543	1338	496.9	19.6	275	6672	0.00	2.12	0.00	0.000	516	0.000	0.040	3243	609	1440	1543	1337	0	0	0	0	0	0	28.83	26.53	28.83
6793	1.25	219.0	3243	609	1542	1338	469.2	21.7	281	6799	0.00	2.08	0.00	0.000	1030	0.000	0.030	3243	2009	1440	1542	1338	0	0	0	0	0	0	28.83	26.59	28.83
7118	1.25	219.0	3243	2009	1541	1337	406.5	19.7	297	7125	0.00	2.15	0.00	0.000	516	0.000	0.040	3254	606	1438	1540	1337	0	0	0	0	0	0	28.83	26.55	28.83
7184	1.25	219.0	3254	606	1541	1337	393.0	20.0	300	7191	0.12	2.08	0.00	0.000	5126	0.170	0.031	3221	2001	1438	1540	1337	0	0	0	0	0	0	26.32	26.59	28.83
7511	1.25	219.0	3222	2000	1541	1336	336.0	16.8	316	7517	0.00	2.17	0.00	0.000	260	0.000	0.047	3222	3404	1438	1541	1336	0	0	0	0	0	0	28.83	26.54	28.83
7565	1.25	219.0	3222	3403	1540	1336	327.7	17.5	318	7572	0.00	2.08	0.00	0.000	1030	0.000	0.029	3233	1995	1438	1540	1336	0	0	0	0	0	0	28.83	26.63	28.83
7880	1.25	219.0	3233	1995	1540	1334	268.6	17.4	334	7886	0.00	2.17	0.00	0.000	260	0.000	0.046	3233	3400	1437	1540	1334	0	0	0	0	0	0	28.83	26.54	28.83
7930	1.25	219.0	3233	3401	1540	1334	260.9	17.1	336	7936	0.00	2.05	0.00	0.000	1030	0.000	0.028	3244	2000	1437	1540	1334	0	0	0	0	0	0	28.83	26.63	28.83
8250	1.25	219.0	3244	2000	1541	1334	206.2	16.0	352	8256	0.00	2.10	0.00	0.000	516	0.000	0.040	3258	606	1437	1541	1334	0	0	0	0	0	0	28.83	26.56	28.83
8417	1.25	219.0	3255	606	1540	1334	176.7	17.1	360	8424	0.12	2.05	0.00	0.000	5126	0.164	0.030	3223	2002	1437	1540	1334	0	0	0	0	0	0	26.35	26.62	28.83
8744	1.25	219.0	3222	2002	1540	1335	126.5	15.2	376	8750	0.00	2.15	0.00	0.000	260	0.000	0.045	3222	3401	1437	1541	1334	0	0	0	0	0	0	28.83	26.55	28.83
8803	1.25	219.0	3222	3400	1540	1335	119.1	15.8	378	8811	0.00	2.05	0.00	0.000	1030	0.000	0.028	3234	1997	1437	1541	1334	0	0	0	0	0	0	28.83	26.65	28.83
9111	1.25	219.0	3234	1996	1541	1334	74.1	13.3	394	9116	0.00	2.08	0.00	0.000	516	0.000	0.038	3244	612	1437	1541	1334	0	0	0	0	0	0	28.83	26.57	28.83
9150	1.25	219.0	3244	612	1540	1334	70.6	13.4	395	9158	0.00	2.05	0.00	0.000	1030	0.000	0.030	3244	2007	1437	1541	1334	0	0	0	0	0	0	28.83	26.61	28.83
9458	1.25	219.0	3245	2007	1541	1334	28.0	14.1	419	9464	0.00	2.12	0.00	0.000	260	0.000	0.045	3245	3400	1437	1541	1334	0	0	0	0	0	0	28.83	26.55	28.83
9632	end climb: SURFACE_DEPTH_REACHED
state	9632	begin surface coast
9656	end surface coast: CONTROL_FINISHED_OK
state	9656	begin surface