Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 HEADING -1 ROLL_MAX 3764 ALTIM_PING_DEPTH 500

DIVE 23 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 425 R_PORT_OVSHOOT 77 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 54 INT_PRESSURE_YINT 0

T_BOOST 4 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 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 2968 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 330 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 720 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 10 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 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -8 T_GPS_CHARGE -968502.06 CF8_MAXERRORS 0 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 100 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 -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 200 PITCH_MAX 3944 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2740 PRESSURE_YINT -16.305099 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52251 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 2 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 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 0.0038360001 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 50 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_TGT 990 PITCH_CNV 0.0031256729 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 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 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.305099 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 330

CALL_WAIT 60 HD_C 9.8500004e-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 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -968502.06

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2740 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 10

C_ROLL_CLIMB 2150 LOGGERDEVICE2 -1 ROLL_DEG 25 T_WATCHDOG 10

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2968 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -8

DEEPGLIDERMB 0 MASS 52251 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 77 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 54 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 14 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 -9.8829851 VBD_MIN 460

DIVE 23 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 0

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 181012,231729,2156.908,12107.599,39,0.8,39,-3.2 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 181012,232428,2156.774,12107.628,5,0.8,5,-3.2 MHEAD_RNG_PITCHd_Wd 352.7,127594,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 923

Post-dive calculations and measurements:

FINISH 1.0,1.021929 _10V_AH 10.4,6.541

SM_CCo 11216,0.00,0.000,0,0,581,585.53 FG_AHR_24Vo 0.000

SM_GC 1.33,7.25,0.15,0.00,0.030,0.076,0.000,111,2265,581,-8.12,-1.24,585.53,0,0,0,0,0,0,26.59,26.62,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12104.20,181012,202006 MEM 323880

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 23374,639

HUMID 54.68 CAP_FILE_SIZE 135662,0

INTERNAL_PRESSURE 9.43396 CFSIZE 260165632,247328768

TCM_TEMP 25.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0

XPDR_PINGS 12 CURRENT 0.262,191.4,1

ALTIM_BOTTOM_PING 551.6,8.1 GPS 191012,023306,2156.850,12106.771,31,1.2,31,-3.2

_24V_AH 23.5,12.292

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 236 110.13 nil 0 0 0.00

Roll_motor 59 86 120.36 nil 0 0 0.00

VBD_pump_during_apogee 665 1469 22998.44 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 11172 14 3743.06

Iridium_during_xfer 253 126 752.25 nil 0 0 0.00

Transponder_ping 4 420 39.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.62

TT8 1782 14 272.74

LPSleep 7247 2 165.06

TT8_Active 816 14 124.88

TT8_Sampling 1544 37 609.08

TT8_CF8 253 44 117.74

TT8_Kalman 0 0 0.00

Analog_circuits 1765 16 293.77

GPS_charging 0 0 0.00

Compass 1232 8 105.65

RAFOS 0 0 0.00

Transponder 10 30 3.15

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.47 -195.5 0.0 0.0 0 96 0.00 0.00 -75.70 0.000 2 0.000 0.000 112 2271 2470 0 0 0 0 0 0 28.83 28.83 28.83

99 -0.47 -195.5 3.1 -5.3 13 149 9.82 1.33 -30.52 0.000 4 0.236 0.073 2583 3106 3767 0 0 0 0 0 0 25.82 26.20 26.55

272 -0.45 -195.5 31.6 -19.1 42 276 0.00 1.25 0.00 0.000 6 0.000 0.023 2583 2255 3767 0 0 0 0 0 0 28.83 26.40 28.83

583 -0.48 -195.5 77.1 -13.0 63 586 0.00 1.27 0.00 0.000 4 0.000 0.031 2583 1386 3767 0 0 0 0 0 0 28.83 26.50 28.83

654 -0.52 -195.5 86.5 -13.5 67 658 0.00 1.33 0.00 0.000 6 0.000 0.035 2583 2250 3768 0 0 0 0 0 0 28.83 26.51 28.83

966 -0.57 -195.5 114.0 -5.3 83 973 0.00 1.35 0.00 0.000 4 0.000 0.045 2583 3128 3768 0 0 0 0 0 0 28.83 26.55 28.83

1187 -0.66 -195.5 127.8 -6.4 94 1194 0.15 1.27 0.00 0.000 6 0.069 0.021 2489 2245 3769 0 0 0 0 0 0 26.64 26.69 28.83

1505 -0.66 -195.5 165.6 -10.5 110 1509 0.12 1.25 0.00 0.000 4 0.145 0.031 2524 1387 3769 0 0 0 0 0 0 26.57 26.66 28.83

1607 -0.71 -195.5 171.2 -5.8 115 1610 0.00 1.33 0.00 0.000 6 0.000 0.035 2524 2255 3769 0 0 0 0 0 0 28.83 26.66 28.83

1909 -0.76 -195.5 199.1 -9.6 130 1915 0.00 1.33 0.00 0.000 4 0.000 0.047 2524 3128 3769 0 0 0 0 0 0 28.83 26.65 28.83

2017 -0.81 -195.5 207.7 -8.5 135 2021 0.12 1.27 0.00 0.000 6 0.079 0.021 2447 2241 3769 0 0 0 0 0 0 26.70 26.76 28.83

2318 -0.79 -195.5 247.8 -13.4 150 2325 0.15 1.38 0.00 0.000 4 0.145 0.044 2487 3126 3768 0 0 0 0 0 0 26.55 26.66 28.83

2518 -0.82 -195.5 266.1 -9.1 160 2525 0.00 1.27 0.00 0.000 6 0.000 0.023 2486 2247 3767 0 0 0 0 0 0 28.83 26.77 28.83

2838 -0.85 -195.5 295.0 -9.6 176 2844 0.00 1.25 0.00 0.000 4 0.000 0.034 2486 1393 3765 0 0 0 0 0 0 28.83 26.71 28.83

2878 -0.87 -195.5 298.8 -9.6 178 2884 0.00 1.33 0.00 0.000 6 0.000 0.037 2486 2255 3765 0 0 0 0 0 0 28.83 26.69 28.83

3198 -0.90 -195.5 325.8 -8.3 194 3200 0.10 0.00 0.00 0.000 6 0.096 0.000 2425 2256 3762 0 0 0 0 0 0 26.82 28.83 28.83

3499 -0.87 -195.5 364.5 -14.5 209 3505 0.12 1.33 0.00 0.000 4 0.162 0.046 2454 3133 3761 0 0 0 0 0 0 26.58 26.69 28.83

3627 -0.87 -195.5 375.8 -8.4 215 3630 0.00 1.30 0.00 0.000 6 0.000 0.026 2454 2246 3759 0 0 0 0 0 0 28.83 26.70 28.83

3929 -0.87 -195.5 398.1 -6.9 230 3930 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2246 3755 0 0 0 0 0 0 28.83 28.83 28.83

4231 -0.87 -195.5 417.6 -6.6 245 4237 0.00 1.38 -0.08 0.000 4 0.000 0.068 2453 3146 3783 0 0 0 0 0 0 28.83 26.65 26.10

4379 -0.88 -195.5 430.3 -9.5 252 4387 0.00 1.30 0.00 0.000 6 0.000 0.024 2453 2254 3782 0 0 0 0 0 0 28.83 26.77 28.83

4687 -0.90 -195.5 464.9 -11.1 268 4694 0.00 1.40 0.00 0.000 4 0.000 0.050 2453 3128 3780 0 0 0 0 0 0 28.83 26.64 28.83

4808 -0.91 -195.5 478.9 -11.8 274 4815 0.00 1.30 0.00 0.000 6 0.000 0.024 2453 2242 3779 0 0 0 0 0 0 28.83 26.77 28.83

5128 -0.92 -195.5 512.2 -10.8 290 5134 0.00 1.40 0.00 0.000 4 0.000 0.049 2453 3125 3777 0 0 0 0 0 0 28.83 26.61 28.83

5177 -0.93 -195.5 517.2 -11.6 292 5180 0.00 1.30 0.00 0.000 6 0.000 0.036 2453 2246 3777 0 0 0 0 0 0 28.83 26.75 28.83

5460 end dive: BOTTOM_OBSTACLE_DETECTED

state 5461 begin apogee

5467 -0.20 0.0 551.6 -11.6 306 5646 0.62 0.00 168.82 1.065 6 0.107 0.000 2667 2130 2967 0 0 0 0 1 0 26.39 28.83 23.84

5649 end apogee: CONTROL_FINISHED_OK

state 5649 begin climb

5651 0.47 195.5 566.0 0.0 315 5841 0.60 1.52 171.07 1.470 4 0.047 0.045 2900 3019 2170 0 0 0 0 1 0 25.05 24.44 23.47

6069 0.41 195.5 550.1 10.0 336 6079 0.15 1.33 0.00 0.000 6 0.149 0.024 2865 2142 2167 0 0 0 0 0 0 25.72 25.92 28.83

6379 0.43 287.3 525.9 6.8 352 6468 0.00 1.40 82.38 0.860 4 0.000 0.040 2865 3027 1788 0 0 0 0 0 0 28.83 25.18 24.51

6699 0.43 287.3 495.1 11.1 368 6702 0.00 1.33 0.00 0.000 6 0.000 0.024 2862 2136 1781 0 0 0 0 0 0 28.83 26.15 28.83

7010 0.43 287.3 462.6 10.5 384 7013 0.00 1.42 0.00 0.000 4 0.000 0.041 2867 3038 1779 0 0 0 0 0 0 28.83 26.33 28.83

7202 0.43 287.3 442.7 10.0 394 7209 0.00 1.30 0.00 0.000 6 0.000 0.026 2867 2155 1778 0 0 0 0 0 0 28.83 26.47 28.83

7522 0.48 370.2 417.8 7.2 410 7601 0.00 1.45 74.32 0.806 4 0.000 0.041 2867 3032 1450 0 0 0 0 0 0 28.83 25.37 24.74

7672 0.52 425.2 407.0 8.1 417 7731 0.08 1.33 49.10 0.789 6 0.054 0.025 2926 2149 1226 0 0 0 0 0 0 25.79 25.84 24.63

8042 0.51 425.2 353.9 15.1 436 8048 0.00 1.40 0.00 0.000 4 0.000 0.041 2925 3033 1216 0 0 0 0 0 0 28.83 26.15 28.83

8090 0.50 425.2 347.5 15.3 438 8094 0.00 1.33 0.00 0.000 6 0.000 0.025 2928 2147 1216 0 0 0 0 0 0 28.83 26.25 28.83

8392 0.48 425.2 302.1 15.2 453 8399 0.12 1.40 0.00 0.000 4 0.154 0.040 2895 3038 1215 0 0 0 0 0 0 26.27 26.36 28.83

8451 0.48 425.2 294.4 13.4 456 8454 0.00 1.33 0.00 0.000 6 0.000 0.025 2895 2147 1214 0 0 0 0 0 0 28.83 26.45 28.83

8763 0.52 447.4 263.2 9.2 472 8790 0.00 1.40 15.40 0.736 4 0.000 0.041 2895 3036 1145 0 0 0 0 1 0 28.83 26.22 25.21

8851 0.56 477.2 256.0 9.0 476 8890 0.00 1.33 27.92 1.044 6 0.000 0.024 2895 2143 1019 0 0 0 0 1 0 28.83 26.34 24.63

9202 0.64 538.4 226.1 7.9 494 9271 0.15 1.48 56.47 1.204 4 0.073 0.041 2977 3033 773 0 0 0 0 1 0 26.29 25.03 24.10

9502 0.60 538.4 174.2 18.4 509 9509 0.15 1.33 0.00 0.000 6 0.143 0.024 2939 2150 778 0 0 0 0 0 0 25.91 26.09 28.83

9822 0.64 538.4 141.4 10.5 525 9828 0.00 1.38 0.00 0.000 4 0.000 0.039 2939 3033 777 0 0 0 0 0 0 28.83 26.32 28.83

9851 0.67 538.4 139.1 11.0 526 9854 0.00 1.30 0.00 0.000 6 0.000 0.023 2939 2142 777 0 0 0 0 0 0 28.83 26.39 28.83

10153 0.73 545.0 108.6 9.8 541 10161 0.10 1.40 3.28 0.344 4 0.093 0.039 3001 3034 745 0 0 0 0 0 0 26.53 26.42 25.83

10241 0.73 545.0 95.7 16.4 545 10244 0.00 1.30 0.00 0.000 6 0.000 0.023 2999 2146 751 0 0 0 0 0 0 28.83 26.51 28.83

10543 0.78 585.3 57.1 8.6 560 10565 0.00 1.40 17.17 0.260 4 0.000 0.039 3002 3038 578 0 0 0 0 0 0 28.83 26.41 25.98

10684 0.82 585.3 44.0 10.2 570 10692 0.00 1.27 0.00 0.000 6 0.000 0.023 3002 2149 582 0 0 0 0 0 0 28.83 26.54 28.83

10993 0.88 585.3 14.4 10.5 611 11000 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2148 581 0 0 0 0 0 0 28.83 28.83 28.83

11106 end climb: SURFACE_DEPTH_REACHED

state 11107 begin surface coast

11138 end surface coast: CONTROL_FINISHED_OK

state 11138 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	HEADING	-1	ROLL_MAX	3764	ALTIM_PING_DEPTH	500
DIVE	23	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	425	R_PORT_OVSHOOT	77	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	54	INT_PRESSURE_YINT	0
T_BOOST	4	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	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	2968	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	330	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	720	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	10	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	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-8	T_GPS_CHARGE	-968502.06	CF8_MAXERRORS	0	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	100	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	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	200	PITCH_MAX	3944	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2740	PRESSURE_YINT	-16.305099	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52251	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	2	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	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	0.0038360001	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	50	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	181012,231729,2156.908,12107.599,39,0.8,39,-3.2	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	181012,232428,2156.774,12107.628,5,0.8,5,-3.2	MHEAD_RNG_PITCHd_Wd	352.7,127594,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	923

FINISH	1.0,1.021929	_10V_AH	10.4,6.541
SM_CCo	11216,0.00,0.000,0,0,581,585.53	FG_AHR_24Vo	0.000
SM_GC	1.33,7.25,0.15,0.00,0.030,0.076,0.000,111,2265,581,-8.12,-1.24,585.53,0,0,0,0,0,0,26.59,26.62,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12104.20,181012,202006	MEM	323880
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	23374,639
HUMID	54.68	CAP_FILE_SIZE	135662,0
INTERNAL_PRESSURE	9.43396	CFSIZE	260165632,247328768
TCM_TEMP	25.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
XPDR_PINGS	12	CURRENT	0.262,191.4,1
ALTIM_BOTTOM_PING	551.6,8.1	GPS	191012,023306,2156.850,12106.771,31,1.2,31,-3.2
_24V_AH	23.5,12.292

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	236	110.13	nil	0	0	0.00
Roll_motor	59	86	120.36	nil	0	0	0.00
VBD_pump_during_apogee	665	1469	22998.44	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	11172	14	3743.06
Iridium_during_xfer	253	126	752.25	nil	0	0	0.00
Transponder_ping	4	420	39.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.62
TT8	1782	14	272.74
LPSleep	7247	2	165.06
TT8_Active	816	14	124.88
TT8_Sampling	1544	37	609.08
TT8_CF8	253	44	117.74
TT8_Kalman	0	0	0.00
Analog_circuits	1765	16	293.77
GPS_charging	0	0	0.00
Compass	1232	8	105.65
RAFOS	0	0	0.00
Transponder	10	30	3.15

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.47	-195.5	0.0	0.0	0	96	0.00	0.00	-75.70	0.000	2	0.000	0.000	112	2271	2470	0	0	0	0	0	0	28.83	28.83	28.83
99	-0.47	-195.5	3.1	-5.3	13	149	9.82	1.33	-30.52	0.000	4	0.236	0.073	2583	3106	3767	0	0	0	0	0	0	25.82	26.20	26.55
272	-0.45	-195.5	31.6	-19.1	42	276	0.00	1.25	0.00	0.000	6	0.000	0.023	2583	2255	3767	0	0	0	0	0	0	28.83	26.40	28.83
583	-0.48	-195.5	77.1	-13.0	63	586	0.00	1.27	0.00	0.000	4	0.000	0.031	2583	1386	3767	0	0	0	0	0	0	28.83	26.50	28.83
654	-0.52	-195.5	86.5	-13.5	67	658	0.00	1.33	0.00	0.000	6	0.000	0.035	2583	2250	3768	0	0	0	0	0	0	28.83	26.51	28.83
966	-0.57	-195.5	114.0	-5.3	83	973	0.00	1.35	0.00	0.000	4	0.000	0.045	2583	3128	3768	0	0	0	0	0	0	28.83	26.55	28.83
1187	-0.66	-195.5	127.8	-6.4	94	1194	0.15	1.27	0.00	0.000	6	0.069	0.021	2489	2245	3769	0	0	0	0	0	0	26.64	26.69	28.83
1505	-0.66	-195.5	165.6	-10.5	110	1509	0.12	1.25	0.00	0.000	4	0.145	0.031	2524	1387	3769	0	0	0	0	0	0	26.57	26.66	28.83
1607	-0.71	-195.5	171.2	-5.8	115	1610	0.00	1.33	0.00	0.000	6	0.000	0.035	2524	2255	3769	0	0	0	0	0	0	28.83	26.66	28.83
1909	-0.76	-195.5	199.1	-9.6	130	1915	0.00	1.33	0.00	0.000	4	0.000	0.047	2524	3128	3769	0	0	0	0	0	0	28.83	26.65	28.83
2017	-0.81	-195.5	207.7	-8.5	135	2021	0.12	1.27	0.00	0.000	6	0.079	0.021	2447	2241	3769	0	0	0	0	0	0	26.70	26.76	28.83
2318	-0.79	-195.5	247.8	-13.4	150	2325	0.15	1.38	0.00	0.000	4	0.145	0.044	2487	3126	3768	0	0	0	0	0	0	26.55	26.66	28.83
2518	-0.82	-195.5	266.1	-9.1	160	2525	0.00	1.27	0.00	0.000	6	0.000	0.023	2486	2247	3767	0	0	0	0	0	0	28.83	26.77	28.83
2838	-0.85	-195.5	295.0	-9.6	176	2844	0.00	1.25	0.00	0.000	4	0.000	0.034	2486	1393	3765	0	0	0	0	0	0	28.83	26.71	28.83
2878	-0.87	-195.5	298.8	-9.6	178	2884	0.00	1.33	0.00	0.000	6	0.000	0.037	2486	2255	3765	0	0	0	0	0	0	28.83	26.69	28.83
3198	-0.90	-195.5	325.8	-8.3	194	3200	0.10	0.00	0.00	0.000	6	0.096	0.000	2425	2256	3762	0	0	0	0	0	0	26.82	28.83	28.83
3499	-0.87	-195.5	364.5	-14.5	209	3505	0.12	1.33	0.00	0.000	4	0.162	0.046	2454	3133	3761	0	0	0	0	0	0	26.58	26.69	28.83
3627	-0.87	-195.5	375.8	-8.4	215	3630	0.00	1.30	0.00	0.000	6	0.000	0.026	2454	2246	3759	0	0	0	0	0	0	28.83	26.70	28.83
3929	-0.87	-195.5	398.1	-6.9	230	3930	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2246	3755	0	0	0	0	0	0	28.83	28.83	28.83
4231	-0.87	-195.5	417.6	-6.6	245	4237	0.00	1.38	-0.08	0.000	4	0.000	0.068	2453	3146	3783	0	0	0	0	0	0	28.83	26.65	26.10
4379	-0.88	-195.5	430.3	-9.5	252	4387	0.00	1.30	0.00	0.000	6	0.000	0.024	2453	2254	3782	0	0	0	0	0	0	28.83	26.77	28.83
4687	-0.90	-195.5	464.9	-11.1	268	4694	0.00	1.40	0.00	0.000	4	0.000	0.050	2453	3128	3780	0	0	0	0	0	0	28.83	26.64	28.83
4808	-0.91	-195.5	478.9	-11.8	274	4815	0.00	1.30	0.00	0.000	6	0.000	0.024	2453	2242	3779	0	0	0	0	0	0	28.83	26.77	28.83
5128	-0.92	-195.5	512.2	-10.8	290	5134	0.00	1.40	0.00	0.000	4	0.000	0.049	2453	3125	3777	0	0	0	0	0	0	28.83	26.61	28.83
5177	-0.93	-195.5	517.2	-11.6	292	5180	0.00	1.30	0.00	0.000	6	0.000	0.036	2453	2246	3777	0	0	0	0	0	0	28.83	26.75	28.83
5460	end dive: BOTTOM_OBSTACLE_DETECTED
state	5461	begin apogee
5467	-0.20	0.0	551.6	-11.6	306	5646	0.62	0.00	168.82	1.065	6	0.107	0.000	2667	2130	2967	0	0	0	0	1	0	26.39	28.83	23.84
5649	end apogee: CONTROL_FINISHED_OK
state	5649	begin climb
5651	0.47	195.5	566.0	0.0	315	5841	0.60	1.52	171.07	1.470	4	0.047	0.045	2900	3019	2170	0	0	0	0	1	0	25.05	24.44	23.47
6069	0.41	195.5	550.1	10.0	336	6079	0.15	1.33	0.00	0.000	6	0.149	0.024	2865	2142	2167	0	0	0	0	0	0	25.72	25.92	28.83
6379	0.43	287.3	525.9	6.8	352	6468	0.00	1.40	82.38	0.860	4	0.000	0.040	2865	3027	1788	0	0	0	0	0	0	28.83	25.18	24.51
6699	0.43	287.3	495.1	11.1	368	6702	0.00	1.33	0.00	0.000	6	0.000	0.024	2862	2136	1781	0	0	0	0	0	0	28.83	26.15	28.83
7010	0.43	287.3	462.6	10.5	384	7013	0.00	1.42	0.00	0.000	4	0.000	0.041	2867	3038	1779	0	0	0	0	0	0	28.83	26.33	28.83
7202	0.43	287.3	442.7	10.0	394	7209	0.00	1.30	0.00	0.000	6	0.000	0.026	2867	2155	1778	0	0	0	0	0	0	28.83	26.47	28.83
7522	0.48	370.2	417.8	7.2	410	7601	0.00	1.45	74.32	0.806	4	0.000	0.041	2867	3032	1450	0	0	0	0	0	0	28.83	25.37	24.74
7672	0.52	425.2	407.0	8.1	417	7731	0.08	1.33	49.10	0.789	6	0.054	0.025	2926	2149	1226	0	0	0	0	0	0	25.79	25.84	24.63
8042	0.51	425.2	353.9	15.1	436	8048	0.00	1.40	0.00	0.000	4	0.000	0.041	2925	3033	1216	0	0	0	0	0	0	28.83	26.15	28.83
8090	0.50	425.2	347.5	15.3	438	8094	0.00	1.33	0.00	0.000	6	0.000	0.025	2928	2147	1216	0	0	0	0	0	0	28.83	26.25	28.83
8392	0.48	425.2	302.1	15.2	453	8399	0.12	1.40	0.00	0.000	4	0.154	0.040	2895	3038	1215	0	0	0	0	0	0	26.27	26.36	28.83
8451	0.48	425.2	294.4	13.4	456	8454	0.00	1.33	0.00	0.000	6	0.000	0.025	2895	2147	1214	0	0	0	0	0	0	28.83	26.45	28.83
8763	0.52	447.4	263.2	9.2	472	8790	0.00	1.40	15.40	0.736	4	0.000	0.041	2895	3036	1145	0	0	0	0	1	0	28.83	26.22	25.21
8851	0.56	477.2	256.0	9.0	476	8890	0.00	1.33	27.92	1.044	6	0.000	0.024	2895	2143	1019	0	0	0	0	1	0	28.83	26.34	24.63
9202	0.64	538.4	226.1	7.9	494	9271	0.15	1.48	56.47	1.204	4	0.073	0.041	2977	3033	773	0	0	0	0	1	0	26.29	25.03	24.10
9502	0.60	538.4	174.2	18.4	509	9509	0.15	1.33	0.00	0.000	6	0.143	0.024	2939	2150	778	0	0	0	0	0	0	25.91	26.09	28.83
9822	0.64	538.4	141.4	10.5	525	9828	0.00	1.38	0.00	0.000	4	0.000	0.039	2939	3033	777	0	0	0	0	0	0	28.83	26.32	28.83
9851	0.67	538.4	139.1	11.0	526	9854	0.00	1.30	0.00	0.000	6	0.000	0.023	2939	2142	777	0	0	0	0	0	0	28.83	26.39	28.83
10153	0.73	545.0	108.6	9.8	541	10161	0.10	1.40	3.28	0.344	4	0.093	0.039	3001	3034	745	0	0	0	0	0	0	26.53	26.42	25.83
10241	0.73	545.0	95.7	16.4	545	10244	0.00	1.30	0.00	0.000	6	0.000	0.023	2999	2146	751	0	0	0	0	0	0	28.83	26.51	28.83
10543	0.78	585.3	57.1	8.6	560	10565	0.00	1.40	17.17	0.260	4	0.000	0.039	3002	3038	578	0	0	0	0	0	0	28.83	26.41	25.98
10684	0.82	585.3	44.0	10.2	570	10692	0.00	1.27	0.00	0.000	6	0.000	0.023	3002	2149	582	0	0	0	0	0	0	28.83	26.54	28.83
10993	0.88	585.3	14.4	10.5	611	11000	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2148	581	0	0	0	0	0	0	28.83	28.83	28.83
11106	end climb: SURFACE_DEPTH_REACHED
state	11107	begin surface coast
11138	end surface coast: CONTROL_FINISHED_OK
state	11138	begin surface