Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 216 * 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 216 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 -20790.613 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 -20790.613

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 216 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 280313,013215,2209.491,12258.157,10,2.1,30,-2.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2211.405,12246.715

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280313,013805,2209.530,12258.201,17,1.0,27,-2.9 MHEAD_RNG_PITCHd_Wd 282.9,20000,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 1992

Post-dive calculations and measurements:

FINISH 0.3,1.014536 _24V_AH 24.1,31.605

SM_CCo 9926,83.40,0.060,0,0,748,400.08 _10V_AH 10.3,21.931

SM_GC 1.32,7.90,0.77,83.40,0.034,0.047,0.060,136,2494,748,-8.30,-1.33,400.08,0,0,0,0,0,0,26.63,26.57,26.40 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2159.71,12300.75,270313,222232 FG_AHR_10Vo 0.000

TT8_MAMPS 0.048685,0.048685 MEM 329792

HUMID 45.66 DATA_FILE_SIZE 16803,471

INTERNAL_PRESSURE 9.62297 CAP_FILE_SIZE 257413,0

TCM_TEMP 23.40 CFSIZE 260034560,231583744

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

SC_FREEKB 3951456 GPS 280313,042636,2210.220,12257.089,37,0.9,38,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 218 104.27 nil 0 0 0.00

Roll_motor 78 69 131.28 nil 0 0 0.00

VBD_pump_during_apogee 567 898 12288.64 nil 0 0 0.00

VBD_pump_during_surface 83 59 119.93 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 9900 3 952.69

Iridium_during_xfer 190 123 564.57 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 27 8.21

TT8 1936 35 716.63

LPSleep 5932 2 133.83

TT8_Active 666 35 246.50

TT8_Sampling 1529 58 920.19

TT8_CF8 289 65 196.71

TT8_Kalman 0 0 0.00

Analog_circuits 1631 15 252.07

GPS_charging 0 0 0.00

Compass 1246 5 76.93

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 -219.0 123 2495 835 663 0.0 0.0 0 85 0.00 0.00 -64.82 0.000 16386 0.000 0.000 123 2498 2644 2709 2579 0 0 0 0 0 0 28.83 28.83 28.83

88 -1.25 -219.0 123 2495 2712 2580 4.3 -7.8 9 119 8.88 1.92 -10.65 0.000 18692 0.219 0.070 2404 3672 3277 3345 3209 0 0 0 0 0 0 25.82 26.23 26.63

153 -1.25 -219.0 2404 3673 3348 3209 31.1 -39.8 17 161 0.00 1.70 0.00 0.000 1030 0.000 0.024 2404 2492 3279 3348 3210 0 0 0 0 0 0 28.83 26.39 28.83

469 -1.25 -219.0 2403 2490 3348 3209 140.1 -33.6 36 475 0.00 2.03 0.00 0.000 516 0.000 0.028 2404 1105 3279 3349 3209 0 0 0 0 0 0 28.83 26.48 28.83

645 -1.25 -219.0 2403 1104 3349 3210 193.7 -32.0 44 651 0.00 2.12 0.00 0.000 1030 0.000 0.039 2393 2502 3280 3350 3210 0 0 0 0 0 0 28.83 26.45 28.83

959 -1.25 -219.0 2393 2502 3353 3209 295.7 -31.0 60 965 0.00 1.80 0.00 0.000 260 0.000 0.051 2384 3674 3280 3351 3210 0 0 0 0 0 0 28.83 26.48 28.83

1008 -1.25 -219.0 2384 3674 3352 3210 309.4 -31.1 62 1015 0.12 1.67 0.00 0.000 3078 0.161 0.023 2416 2492 3280 3352 3209 0 0 0 0 0 0 26.32 26.63 28.83

1329 -1.25 -219.0 2416 2490 3354 3210 391.8 -23.6 78 1330 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2489 3282 3354 3210 0 0 0 0 0 0 28.83 28.83 28.83

1628 -1.25 -219.0 2417 2490 3354 3209 464.7 -25.6 93 1634 0.00 1.83 0.00 0.000 260 0.000 0.052 2408 3672 3282 3354 3210 0 0 0 0 0 0 28.83 26.53 28.83

1708 -1.25 -219.0 2407 3673 3354 3210 481.0 -24.7 96 1716 0.00 1.67 0.00 0.000 1030 0.000 0.024 2407 2489 3281 3354 3209 0 0 0 0 0 0 28.83 26.69 28.83

2014 -1.25 -219.0 2407 2487 3354 3210 557.4 -22.4 112 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2487 3281 3354 3209 0 0 0 0 0 0 28.83 28.83 28.83

2334 -1.25 -219.0 2407 2487 3354 3210 625.5 -21.1 126 2340 0.00 2.03 0.00 0.000 516 0.000 0.028 2408 1107 3281 3354 3209 0 0 0 0 0 0 28.83 26.65 28.83

2387 -1.25 -219.0 2407 1106 3354 3209 632.9 -21.0 127 2393 0.00 2.12 0.00 0.000 1030 0.000 0.038 2397 2508 3282 3354 3210 0 0 0 0 0 0 28.83 26.57 28.83

2703 -1.25 -219.0 2396 2508 3354 3208 707.2 -22.8 138 2709 0.00 1.80 0.00 0.000 260 0.000 0.054 2388 3673 3280 3354 3207 0 0 0 0 0 0 28.83 26.55 28.83

2776 -1.25 -219.0 2386 3672 3354 3207 722.6 -23.1 140 2783 0.08 1.73 0.00 0.000 3078 0.132 0.024 2414 2490 3281 3355 3207 0 0 0 0 0 0 26.44 26.72 28.83

3101 -1.25 -219.0 2414 2489 3354 3203 793.7 -20.3 151 3102 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2489 3278 3354 3203 0 0 0 0 0 0 28.83 28.83 28.83

3401 -1.25 -219.0 2414 2489 3354 3198 849.6 -18.4 161 3407 0.00 1.85 0.00 0.000 260 0.000 0.054 2406 3674 3276 3354 3198 0 0 0 0 0 0 28.83 26.54 28.83

3455 -1.25 -219.0 2405 3674 3354 3197 855.9 -18.2 162 3461 0.00 1.67 0.00 0.000 1030 0.000 0.025 2406 2493 3275 3354 3197 0 0 0 0 0 0 28.83 26.72 28.83

3771 -1.25 -219.0 2406 2492 3353 3193 915.8 -17.9 173 3772 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2491 3273 3353 3193 0 0 0 0 0 0 28.83 28.83 28.83

4069 -1.25 -219.0 2406 2492 3351 3189 969.9 -18.9 183 4070 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2491 3270 3351 3190 0 0 0 0 0 0 28.83 28.83 28.83

4097 end dive: TARGET_DEPTH_EXCEEDED

state 4097 begin apogee

4103 -0.20 0.0 2406 1999 3351 3188 975.7 -19.2 184 4448 1.02 0.00 335.42 0.750 10246 0.116 0.000 2749 1998 2377 2538 2217 0 0 0 0 0 0 26.29 28.83 24.44

4450 end apogee: CONTROL_FINISHED_OK

state 4450 begin climb

4452 1.25 219.0 2749 1997 2531 2207 1000.8 0.0 195 4696 1.27 2.28 232.32 0.898 10756 0.047 0.039 3239 639 1473 1577 1370 0 0 0 0 0 0 25.22 24.83 24.10

4784 1.25 219.0 3238 639 1557 1352 956.9 22.9 206 4790 0.00 2.15 0.00 0.000 1030 0.000 0.031 3239 2011 1454 1557 1352 0 0 0 0 0 0 28.83 25.55 28.83

5100 1.25 219.0 3239 2011 1550 1347 877.3 23.3 217 5106 0.00 2.15 0.00 0.000 516 0.000 0.038 3250 628 1448 1550 1346 0 0 0 0 0 0 28.83 26.15 28.83

5174 1.25 219.0 3250 628 1550 1346 861.2 23.8 219 5180 0.12 2.08 0.00 0.000 5126 0.173 0.031 3219 2005 1448 1550 1346 0 0 0 0 0 0 26.02 26.25 28.83

5498 1.25 219.0 3219 2007 1548 1345 784.6 22.8 230 5504 0.00 2.17 0.00 0.000 260 0.000 0.047 3219 3400 1446 1548 1345 0 0 0 0 0 0 28.83 26.36 28.83

5628 1.25 219.0 3218 3400 1547 1345 755.6 23.0 234 5634 0.00 2.05 0.00 0.000 1030 0.000 0.028 3230 2014 1446 1547 1345 0 0 0 0 0 0 28.83 26.47 28.83

5958 1.25 219.0 3229 2014 1546 1342 683.2 21.0 245 5964 0.00 2.15 0.00 0.000 516 0.000 0.038 3241 606 1444 1546 1342 0 0 0 0 0 0 28.83 26.48 28.83

6047 1.25 219.0 3241 605 1546 1342 669.1 21.2 247 6055 0.00 2.08 0.00 0.000 1030 0.000 0.031 3241 2001 1443 1546 1341 0 0 0 0 0 0 28.83 26.52 28.83

6356 1.25 219.0 3241 2001 1545 1341 598.2 21.6 258 6361 0.00 2.17 0.00 0.000 260 0.000 0.047 3240 3406 1442 1545 1340 0 0 0 0 0 0 28.83 26.50 28.83

6406 1.25 219.0 3241 3406 1545 1341 588.3 21.0 260 6413 0.12 2.08 0.00 0.000 5126 0.175 0.028 3221 2001 1443 1545 1341 0 0 0 0 0 0 26.29 26.58 28.83

6727 1.25 219.0 3221 2001 1545 1339 520.1 20.3 276 6733 0.00 2.12 0.00 0.000 516 0.000 0.040 3232 606 1441 1544 1339 0 0 0 0 0 0 28.83 26.53 28.83

6935 1.25 219.0 3232 606 1543 1339 477.7 19.7 286 6941 0.00 2.08 0.00 0.000 1030 0.000 0.031 3232 2000 1441 1543 1339 0 0 0 0 0 0 28.83 26.58 28.83

7261 1.25 219.0 3232 2000 1543 1337 417.3 18.4 302 7266 0.00 2.17 0.00 0.000 260 0.000 0.047 3232 3407 1439 1542 1337 0 0 0 0 0 0 28.83 26.53 28.83

7335 1.25 219.0 3232 3408 1543 1337 403.3 20.3 305 7341 0.00 2.08 0.00 0.000 1030 0.000 0.029 3243 2000 1439 1542 1337 0 0 0 0 0 0 28.83 26.62 28.83

7650 1.25 219.0 3243 2000 1542 1336 337.8 19.8 321 7655 0.00 2.10 0.00 0.000 516 0.000 0.040 3254 608 1438 1541 1336 0 0 0 0 0 0 28.83 26.55 28.83

7700 1.25 219.0 3254 608 1541 1336 329.4 19.2 323 7706 0.12 2.08 0.00 0.000 5126 0.168 0.031 3221 2009 1438 1541 1336 0 0 0 0 0 0 26.33 26.60 28.83

8021 1.25 219.0 3222 2009 1541 1336 271.8 16.9 339 8026 0.00 2.12 0.00 0.000 516 0.000 0.039 3233 610 1438 1541 1336 0 0 0 0 0 0 28.83 26.56 28.83

8075 1.25 219.0 3232 610 1541 1337 264.7 16.1 341 8081 0.00 2.05 0.00 0.000 1030 0.000 0.030 3233 1999 1439 1541 1337 0 0 0 0 0 0 28.83 26.60 28.83

8390 1.25 219.0 3233 1999 1541 1336 213.0 15.6 357 8396 0.00 2.17 0.00 0.000 260 0.000 0.046 3233 3410 1439 1541 1337 0 0 0 0 0 0 28.83 26.55 28.83

8496 1.25 219.0 3233 3410 1541 1336 194.7 17.6 362 8502 0.00 2.08 0.00 0.000 1030 0.000 0.028 3244 1994 1438 1541 1336 0 0 0 0 0 0 28.83 26.63 28.83

8821 1.25 219.0 3244 1994 1541 1336 143.2 15.2 378 8822 0.00 0.00 0.00 0.000 6 0.000 0.000 3244 1994 1439 1542 1336 0 0 0 0 0 0 28.83 28.83 28.83

9121 1.25 219.0 3244 1994 1541 1336 97.5 14.8 393 9126 0.00 2.17 0.00 0.000 260 0.000 0.045 3244 3402 1438 1541 1336 0 0 0 0 0 0 28.83 26.55 28.83

9190 1.25 219.0 3244 3401 1542 1336 87.6 14.8 396 9196 0.12 2.05 0.00 0.000 5126 0.163 0.027 3223 1994 1439 1542 1336 0 0 0 0 0 0 26.36 26.66 28.83

9511 1.25 219.0 3222 1993 1542 1336 48.3 11.6 412 9517 0.00 2.17 0.00 0.000 260 0.000 0.045 3223 3402 1439 1542 1336 0 0 0 0 0 0 28.83 26.55 28.83

9674 1.25 219.0 3222 3402 1545 1336 27.7 14.0 427 9682 0.00 2.05 0.00 0.000 1030 0.000 0.027 3234 1996 1440 1544 1336 0 0 0 0 0 0 28.83 26.65 28.83

9880 end climb: SURFACE_DEPTH_REACHED

state 9880 begin surface coast

9909 end surface coast: CONTROL_FINISHED_OK

state 9909 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	216	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	-20790.613	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	280313,013215,2209.491,12258.157,10,2.1,30,-2.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2211.405,12246.715
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280313,013805,2209.530,12258.201,17,1.0,27,-2.9	MHEAD_RNG_PITCHd_Wd	282.9,20000,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	1992

FINISH	0.3,1.014536	_24V_AH	24.1,31.605
SM_CCo	9926,83.40,0.060,0,0,748,400.08	_10V_AH	10.3,21.931
SM_GC	1.32,7.90,0.77,83.40,0.034,0.047,0.060,136,2494,748,-8.30,-1.33,400.08,0,0,0,0,0,0,26.63,26.57,26.40	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2159.71,12300.75,270313,222232	FG_AHR_10Vo	0.000
TT8_MAMPS	0.048685,0.048685	MEM	329792
HUMID	45.66	DATA_FILE_SIZE	16803,471
INTERNAL_PRESSURE	9.62297	CAP_FILE_SIZE	257413,0
TCM_TEMP	23.40	CFSIZE	260034560,231583744
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3951456	GPS	280313,042636,2210.220,12257.089,37,0.9,38,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	218	104.27	nil	0	0	0.00
Roll_motor	78	69	131.28	nil	0	0	0.00
VBD_pump_during_apogee	567	898	12288.64	nil	0	0	0.00
VBD_pump_during_surface	83	59	119.93	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	9900	3	952.69
Iridium_during_xfer	190	123	564.57	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	27	8.21
TT8	1936	35	716.63
LPSleep	5932	2	133.83
TT8_Active	666	35	246.50
TT8_Sampling	1529	58	920.19
TT8_CF8	289	65	196.71
TT8_Kalman	0	0	0.00
Analog_circuits	1631	15	252.07
GPS_charging	0	0	0.00
Compass	1246	5	76.93
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	123	2495	835	663	0.0	0.0	0	85	0.00	0.00	-64.82	0.000	16386	0.000	0.000	123	2498	2644	2709	2579	0	0	0	0	0	0	28.83	28.83	28.83
88	-1.25	-219.0	123	2495	2712	2580	4.3	-7.8	9	119	8.88	1.92	-10.65	0.000	18692	0.219	0.070	2404	3672	3277	3345	3209	0	0	0	0	0	0	25.82	26.23	26.63
153	-1.25	-219.0	2404	3673	3348	3209	31.1	-39.8	17	161	0.00	1.70	0.00	0.000	1030	0.000	0.024	2404	2492	3279	3348	3210	0	0	0	0	0	0	28.83	26.39	28.83
469	-1.25	-219.0	2403	2490	3348	3209	140.1	-33.6	36	475	0.00	2.03	0.00	0.000	516	0.000	0.028	2404	1105	3279	3349	3209	0	0	0	0	0	0	28.83	26.48	28.83
645	-1.25	-219.0	2403	1104	3349	3210	193.7	-32.0	44	651	0.00	2.12	0.00	0.000	1030	0.000	0.039	2393	2502	3280	3350	3210	0	0	0	0	0	0	28.83	26.45	28.83
959	-1.25	-219.0	2393	2502	3353	3209	295.7	-31.0	60	965	0.00	1.80	0.00	0.000	260	0.000	0.051	2384	3674	3280	3351	3210	0	0	0	0	0	0	28.83	26.48	28.83
1008	-1.25	-219.0	2384	3674	3352	3210	309.4	-31.1	62	1015	0.12	1.67	0.00	0.000	3078	0.161	0.023	2416	2492	3280	3352	3209	0	0	0	0	0	0	26.32	26.63	28.83
1329	-1.25	-219.0	2416	2490	3354	3210	391.8	-23.6	78	1330	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2489	3282	3354	3210	0	0	0	0	0	0	28.83	28.83	28.83
1628	-1.25	-219.0	2417	2490	3354	3209	464.7	-25.6	93	1634	0.00	1.83	0.00	0.000	260	0.000	0.052	2408	3672	3282	3354	3210	0	0	0	0	0	0	28.83	26.53	28.83
1708	-1.25	-219.0	2407	3673	3354	3210	481.0	-24.7	96	1716	0.00	1.67	0.00	0.000	1030	0.000	0.024	2407	2489	3281	3354	3209	0	0	0	0	0	0	28.83	26.69	28.83
2014	-1.25	-219.0	2407	2487	3354	3210	557.4	-22.4	112	2015	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2487	3281	3354	3209	0	0	0	0	0	0	28.83	28.83	28.83
2334	-1.25	-219.0	2407	2487	3354	3210	625.5	-21.1	126	2340	0.00	2.03	0.00	0.000	516	0.000	0.028	2408	1107	3281	3354	3209	0	0	0	0	0	0	28.83	26.65	28.83
2387	-1.25	-219.0	2407	1106	3354	3209	632.9	-21.0	127	2393	0.00	2.12	0.00	0.000	1030	0.000	0.038	2397	2508	3282	3354	3210	0	0	0	0	0	0	28.83	26.57	28.83
2703	-1.25	-219.0	2396	2508	3354	3208	707.2	-22.8	138	2709	0.00	1.80	0.00	0.000	260	0.000	0.054	2388	3673	3280	3354	3207	0	0	0	0	0	0	28.83	26.55	28.83
2776	-1.25	-219.0	2386	3672	3354	3207	722.6	-23.1	140	2783	0.08	1.73	0.00	0.000	3078	0.132	0.024	2414	2490	3281	3355	3207	0	0	0	0	0	0	26.44	26.72	28.83
3101	-1.25	-219.0	2414	2489	3354	3203	793.7	-20.3	151	3102	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2489	3278	3354	3203	0	0	0	0	0	0	28.83	28.83	28.83
3401	-1.25	-219.0	2414	2489	3354	3198	849.6	-18.4	161	3407	0.00	1.85	0.00	0.000	260	0.000	0.054	2406	3674	3276	3354	3198	0	0	0	0	0	0	28.83	26.54	28.83
3455	-1.25	-219.0	2405	3674	3354	3197	855.9	-18.2	162	3461	0.00	1.67	0.00	0.000	1030	0.000	0.025	2406	2493	3275	3354	3197	0	0	0	0	0	0	28.83	26.72	28.83
3771	-1.25	-219.0	2406	2492	3353	3193	915.8	-17.9	173	3772	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2491	3273	3353	3193	0	0	0	0	0	0	28.83	28.83	28.83
4069	-1.25	-219.0	2406	2492	3351	3189	969.9	-18.9	183	4070	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2491	3270	3351	3190	0	0	0	0	0	0	28.83	28.83	28.83
4097	end dive: TARGET_DEPTH_EXCEEDED
state	4097	begin apogee
4103	-0.20	0.0	2406	1999	3351	3188	975.7	-19.2	184	4448	1.02	0.00	335.42	0.750	10246	0.116	0.000	2749	1998	2377	2538	2217	0	0	0	0	0	0	26.29	28.83	24.44
4450	end apogee: CONTROL_FINISHED_OK
state	4450	begin climb
4452	1.25	219.0	2749	1997	2531	2207	1000.8	0.0	195	4696	1.27	2.28	232.32	0.898	10756	0.047	0.039	3239	639	1473	1577	1370	0	0	0	0	0	0	25.22	24.83	24.10
4784	1.25	219.0	3238	639	1557	1352	956.9	22.9	206	4790	0.00	2.15	0.00	0.000	1030	0.000	0.031	3239	2011	1454	1557	1352	0	0	0	0	0	0	28.83	25.55	28.83
5100	1.25	219.0	3239	2011	1550	1347	877.3	23.3	217	5106	0.00	2.15	0.00	0.000	516	0.000	0.038	3250	628	1448	1550	1346	0	0	0	0	0	0	28.83	26.15	28.83
5174	1.25	219.0	3250	628	1550	1346	861.2	23.8	219	5180	0.12	2.08	0.00	0.000	5126	0.173	0.031	3219	2005	1448	1550	1346	0	0	0	0	0	0	26.02	26.25	28.83
5498	1.25	219.0	3219	2007	1548	1345	784.6	22.8	230	5504	0.00	2.17	0.00	0.000	260	0.000	0.047	3219	3400	1446	1548	1345	0	0	0	0	0	0	28.83	26.36	28.83
5628	1.25	219.0	3218	3400	1547	1345	755.6	23.0	234	5634	0.00	2.05	0.00	0.000	1030	0.000	0.028	3230	2014	1446	1547	1345	0	0	0	0	0	0	28.83	26.47	28.83
5958	1.25	219.0	3229	2014	1546	1342	683.2	21.0	245	5964	0.00	2.15	0.00	0.000	516	0.000	0.038	3241	606	1444	1546	1342	0	0	0	0	0	0	28.83	26.48	28.83
6047	1.25	219.0	3241	605	1546	1342	669.1	21.2	247	6055	0.00	2.08	0.00	0.000	1030	0.000	0.031	3241	2001	1443	1546	1341	0	0	0	0	0	0	28.83	26.52	28.83
6356	1.25	219.0	3241	2001	1545	1341	598.2	21.6	258	6361	0.00	2.17	0.00	0.000	260	0.000	0.047	3240	3406	1442	1545	1340	0	0	0	0	0	0	28.83	26.50	28.83
6406	1.25	219.0	3241	3406	1545	1341	588.3	21.0	260	6413	0.12	2.08	0.00	0.000	5126	0.175	0.028	3221	2001	1443	1545	1341	0	0	0	0	0	0	26.29	26.58	28.83
6727	1.25	219.0	3221	2001	1545	1339	520.1	20.3	276	6733	0.00	2.12	0.00	0.000	516	0.000	0.040	3232	606	1441	1544	1339	0	0	0	0	0	0	28.83	26.53	28.83
6935	1.25	219.0	3232	606	1543	1339	477.7	19.7	286	6941	0.00	2.08	0.00	0.000	1030	0.000	0.031	3232	2000	1441	1543	1339	0	0	0	0	0	0	28.83	26.58	28.83
7261	1.25	219.0	3232	2000	1543	1337	417.3	18.4	302	7266	0.00	2.17	0.00	0.000	260	0.000	0.047	3232	3407	1439	1542	1337	0	0	0	0	0	0	28.83	26.53	28.83
7335	1.25	219.0	3232	3408	1543	1337	403.3	20.3	305	7341	0.00	2.08	0.00	0.000	1030	0.000	0.029	3243	2000	1439	1542	1337	0	0	0	0	0	0	28.83	26.62	28.83
7650	1.25	219.0	3243	2000	1542	1336	337.8	19.8	321	7655	0.00	2.10	0.00	0.000	516	0.000	0.040	3254	608	1438	1541	1336	0	0	0	0	0	0	28.83	26.55	28.83
7700	1.25	219.0	3254	608	1541	1336	329.4	19.2	323	7706	0.12	2.08	0.00	0.000	5126	0.168	0.031	3221	2009	1438	1541	1336	0	0	0	0	0	0	26.33	26.60	28.83
8021	1.25	219.0	3222	2009	1541	1336	271.8	16.9	339	8026	0.00	2.12	0.00	0.000	516	0.000	0.039	3233	610	1438	1541	1336	0	0	0	0	0	0	28.83	26.56	28.83
8075	1.25	219.0	3232	610	1541	1337	264.7	16.1	341	8081	0.00	2.05	0.00	0.000	1030	0.000	0.030	3233	1999	1439	1541	1337	0	0	0	0	0	0	28.83	26.60	28.83
8390	1.25	219.0	3233	1999	1541	1336	213.0	15.6	357	8396	0.00	2.17	0.00	0.000	260	0.000	0.046	3233	3410	1439	1541	1337	0	0	0	0	0	0	28.83	26.55	28.83
8496	1.25	219.0	3233	3410	1541	1336	194.7	17.6	362	8502	0.00	2.08	0.00	0.000	1030	0.000	0.028	3244	1994	1438	1541	1336	0	0	0	0	0	0	28.83	26.63	28.83
8821	1.25	219.0	3244	1994	1541	1336	143.2	15.2	378	8822	0.00	0.00	0.00	0.000	6	0.000	0.000	3244	1994	1439	1542	1336	0	0	0	0	0	0	28.83	28.83	28.83
9121	1.25	219.0	3244	1994	1541	1336	97.5	14.8	393	9126	0.00	2.17	0.00	0.000	260	0.000	0.045	3244	3402	1438	1541	1336	0	0	0	0	0	0	28.83	26.55	28.83
9190	1.25	219.0	3244	3401	1542	1336	87.6	14.8	396	9196	0.12	2.05	0.00	0.000	5126	0.163	0.027	3223	1994	1439	1542	1336	0	0	0	0	0	0	26.36	26.66	28.83
9511	1.25	219.0	3222	1993	1542	1336	48.3	11.6	412	9517	0.00	2.17	0.00	0.000	260	0.000	0.045	3223	3402	1439	1542	1336	0	0	0	0	0	0	28.83	26.55	28.83
9674	1.25	219.0	3222	3402	1545	1336	27.7	14.0	427	9682	0.00	2.05	0.00	0.000	1030	0.000	0.027	3234	1996	1440	1544	1336	0	0	0	0	0	0	28.83	26.65	28.83
9880	end climb: SURFACE_DEPTH_REACHED
state	9880	begin surface coast
9909	end surface coast: CONTROL_FINISHED_OK
state	9909	begin surface