Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 27 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 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 34 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 400 R_STBD_OVSHOOT 21 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 2730 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 330 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_MISSION 380 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 2 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 -20326.865 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -8 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 175 C_PITCH 2760 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 17 PRESSURE_SLOPE 0.0001165165 SEABIRD_C_G -10.475479

MASS 52107 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.2050543

NAV_MODE 2 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 990 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 17 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 0.001 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 330

CALL_WAIT 60 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 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 -20326.865

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 380

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 2760 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 2730 LOGGERDEVICE4 -1 ROLL_MAX 3676 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -8

DEEPGLIDER 0 MASS 52107 ROLL_MIN 181 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 34 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 21 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 2 SC_XMITPROFILE 3.0 VBD_MIN 415

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.475479 VBD_PUMP_AD_RATE_APOGEE 2

DIVE 27 N_DIVES 0 SEABIRD_C_H 1.2050543 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1020 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 280213,033543,2259.270,12127.042,10,1.4,10,-3.0 TGT_NAME N2

_CALLS 1 TGT_LATLONG 2350.000,12355.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280213,034048,2259.443,12127.173,13,1.4,30,-3.0 MHEAD_RNG_PITCHd_Wd 117.5,267361,-16.1,-10.000,-19.78,2593

SPEED_LIMITS 0.173,0.278 D_GRID 627

Post-dive calculations and measurements:

FINISH 0.5,0.000000 _10V_AH 10.4,3.737

SM_CCo 9154,5.53,0.057,0,0,1098,400.08 FG_AHR_24Vo 0.000

SM_GC 2.92,7.82,1.42,5.53,0.036,0.035,0.057,139,2490,1098,-8.10,1.13,400.08,0,0,0,0,0,0,26.55,26.55,26.49 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2251.04,12121.11,280213,020235 MEM 324048

TT8_MAMPS 0.048685,0.048685 DATA_FILE_SIZE 16809,488

HUMID 45.66 CAP_FILE_SIZE 238981,0

INTERNAL_PRESSURE 9.6718 CFSIZE 260034560,251076608

TCM_TEMP 23.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.258, 40.9,1

SC_FREEKB 4011648 GPS 280213,061559,2259.955,12128.903,87,0.9,88,-3.0

_24V_AH 24.7,5.563

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 227 106.07 nil 0 0 0.00

Roll_motor 63 62 98.66 nil 0 0 0.00

VBD_pump_during_apogee 640 708 11199.98 nil 0 0 0.00

VBD_pump_during_surface 5 57 7.83 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 9127 3 830.96

Iridium_during_xfer 189 118 554.42 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 27 9.15

TT8 1831 35 684.38

LPSleep 5306 2 120.86

TT8_Active 641 35 239.67

TT8_Sampling 1564 58 950.43

TT8_CF8 134 65 91.95

TT8_Kalman 0 0 0.00

Analog_circuits 1587 15 247.68

GPS_charging 0 0 0.00

Compass 1284 5 80.02

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

17 -1.12 -170.3 126 2495 1091 874 0.0 0.0 0 73 0.00 0.00 -54.35 0.000 16386 0.000 0.000 127 2495 2582 2656 2508 0 0 0 0 0 0 28.83 28.83 28.83

76 -1.12 -170.3 126 2495 2657 2510 4.4 -7.5 7 108 8.73 2.17 -13.15 0.000 18948 0.227 0.050 2391 1045 3408 3425 3391 0 0 0 0 0 0 26.22 26.41 26.68

129 -1.12 -170.3 1448 1044 3408 3389 28.9 -44.2 14 137 0.00 2.25 0.00 0.000 1030 0.000 0.047 2380 2503 3408 3424 3393 0 0 0 0 0 0 28.83 26.41 28.83

447 -1.12 -170.3 2380 2503 3424 3397 135.3 -27.6 33 453 0.00 1.85 0.00 0.000 260 0.000 0.060 2372 3680 3410 3424 3397 0 0 0 0 0 0 28.83 26.58 28.83

683 -1.12 -170.3 2372 3680 3424 3404 204.2 -30.5 44 689 0.00 1.73 0.00 0.000 1030 0.000 0.027 2372 2482 3414 3424 3404 0 0 0 0 0 0 28.83 26.71 28.83

1001 -1.12 -170.3 2372 2480 3423 3406 301.0 -29.6 60 1002 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2480 3414 3424 3405 0 0 0 0 0 0 28.83 28.83 28.83

1301 -1.12 -170.3 2371 2480 3424 3406 386.2 -27.4 75 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2480 3415 3424 3406 0 0 0 0 0 0 28.83 28.83 28.83

1601 -1.12 -170.3 2371 2480 3423 3406 465.4 -25.4 90 1608 0.10 1.88 0.00 0.000 2308 0.176 0.060 2389 3674 3414 3423 3406 0 0 0 0 0 0 26.72 26.77 28.83

1694 -1.12 -170.3 2388 3674 3423 3406 485.2 -23.6 94 1701 0.00 1.70 0.00 0.000 1030 0.000 0.028 2389 2496 3414 3422 3406 0 0 0 0 0 0 28.83 26.83 28.83

2009 -1.12 -170.3 2388 2495 3421 3406 559.1 -22.7 110 2015 0.00 1.85 0.00 0.000 260 0.000 0.063 2379 3671 3413 3421 3405 0 0 0 0 0 0 28.83 26.79 28.83

2068 -1.12 -170.3 2379 3671 3420 3406 569.1 -22.7 112 2077 0.00 1.73 0.00 0.000 1030 0.000 0.028 2379 2512 3413 3420 3406 0 0 0 0 0 0 28.83 26.84 28.83

2313 end dive: TARGET_DEPTH_EXCEEDED

state 2313 begin apogee

2318 -0.29 0.0 2380 1994 3418 3403 627.6 -21.5 123 2551 0.82 0.00 223.90 0.613 10246 0.126 0.000 2655 1994 2724 2846 2602 0 0 0 0 0 0 26.73 28.83 24.90

2553 end apogee: CONTROL_FINISHED_OK

state 2553 begin climb

2554 1.12 170.3 2655 1994 2841 2598 641.1 0.0 130 2729 1.30 2.45 165.82 0.708 11012 0.076 0.055 3111 3415 2026 2176 1877 0 0 0 0 0 0 25.43 25.21 24.67

2962 1.12 170.3 3111 3415 2134 1862 626.7 10.4 143 2968 0.00 2.15 0.00 0.000 1030 0.000 0.034 3124 2010 1998 2134 1862 0 0 0 0 0 0 28.83 26.21 28.83

3285 1.12 170.3 3123 2011 2131 1859 593.1 10.1 155 3292 0.00 2.22 0.00 0.000 260 0.000 0.057 3123 3415 1995 2131 1859 0 0 0 0 0 0 28.83 26.47 28.83

3512 1.12 170.3 3123 3415 2129 1857 566.9 11.6 166 3519 0.00 2.15 0.00 0.000 1030 0.000 0.037 3135 1998 1993 2129 1857 0 0 0 0 0 0 28.83 26.60 28.83

3838 1.12 177.3 3134 1997 2126 1854 534.1 9.7 182 3844 0.00 2.25 0.00 0.000 260 0.000 0.060 3134 3414 1990 2126 1854 0 0 0 0 0 0 28.83 26.65 28.83

3892 1.12 177.3 3134 3414 2126 1854 529.3 10.1 184 3898 0.00 2.15 0.00 0.000 1030 0.000 0.038 3146 1992 1989 2125 1854 0 0 0 0 0 0 28.83 26.68 28.83

4206 1.14 194.7 3145 1991 2123 1852 498.1 9.3 200 4239 0.00 2.28 26.35 0.565 8452 0.000 0.060 3146 3414 1931 2072 1790 0 0 0 0 0 0 28.83 26.39 25.98

4386 1.14 194.7 3145 3414 2054 1777 481.2 10.2 208 4395 0.12 2.15 0.00 0.000 5126 0.169 0.038 3126 2002 1915 2054 1776 0 0 0 0 0 0 26.42 26.53 28.83

4694 1.16 214.3 3125 2002 2050 1774 452.3 9.2 224 4722 0.00 0.00 26.90 0.542 8198 0.000 0.000 3126 2001 1856 1997 1716 0 0 0 0 0 0 28.83 28.83 25.92

5013 1.16 214.3 3125 2002 1966 1701 418.4 10.9 240 5019 0.00 2.20 0.00 0.000 516 0.000 0.051 3136 582 1833 1966 1701 0 0 0 0 0 0 28.83 26.54 28.83

5046 1.16 214.3 3136 582 1965 1701 415.8 11.0 241 5052 0.00 2.17 0.00 0.000 1030 0.000 0.043 3136 2004 1833 1965 1701 0 0 0 0 0 0 28.83 26.56 28.83

5359 1.16 214.3 3136 2003 1962 1701 381.8 10.5 257 5360 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 2004 1831 1962 1701 0 0 0 0 0 0 28.83 28.83 28.83

5659 1.16 214.3 3139 2004 1960 1701 350.2 10.4 272 5660 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 2004 1829 1958 1701 0 0 0 0 0 0 28.83 28.83 28.83

5959 1.18 231.0 3136 2004 1958 1701 323.1 9.3 287 5981 0.00 0.00 18.42 0.519 8198 0.000 0.000 3137 2004 1786 1916 1656 0 0 0 0 0 0 28.83 28.83 26.13

6279 1.18 231.0 3135 2004 1889 1645 287.8 11.0 303 6285 0.00 2.20 0.00 0.000 260 0.000 0.056 3136 3411 1767 1890 1645 0 0 0 0 0 0 28.83 26.65 28.83

6367 1.18 231.0 2128 3411 1841 1639 278.1 11.4 307 6373 0.00 2.12 0.00 0.000 1030 0.000 0.032 3147 1988 1766 1888 1645 0 0 0 0 0 0 28.83 26.69 28.83

6687 1.18 231.0 3147 1988 1886 1646 241.0 11.2 323 6688 0.00 0.00 0.00 0.000 6 0.000 0.000 3147 1988 1766 1886 1646 0 0 0 0 0 0 28.83 28.83 28.83

6986 1.18 231.0 3147 1988 1885 1645 206.4 11.7 338 6992 0.00 2.22 0.00 0.000 260 0.000 0.054 3147 3414 1765 1885 1646 0 0 0 0 0 0 28.83 26.74 28.83

7014 1.18 231.0 3147 3414 1885 1645 203.6 11.7 339 7020 0.00 2.10 0.00 0.000 1030 0.000 0.033 3159 2002 1765 1885 1645 0 0 0 0 0 0 28.83 26.77 28.83

7333 1.18 231.0 3158 2002 1885 1645 167.0 10.1 355 7339 0.00 2.22 0.00 0.000 260 0.000 0.057 3159 3416 1765 1885 1645 0 0 0 0 0 0 28.83 26.77 28.83

7569 1.21 266.7 3158 3415 1884 1646 150.2 8.6 366 7627 0.00 2.12 49.40 0.430 9222 0.000 0.036 3170 1993 1635 1744 1526 0 0 0 0 0 0 28.83 26.80 25.98

7920 1.25 300.5 3170 1994 1719 1514 120.0 8.7 384 7971 0.00 2.33 41.97 0.413 8964 0.000 0.057 3170 3412 1496 1607 1385 0 0 0 0 0 0 28.83 26.20 25.85

8199 1.27 320.3 3170 3410 1589 1372 91.8 9.2 397 8228 0.00 2.15 21.62 0.396 9222 0.000 0.036 3181 1993 1418 1530 1307 0 0 0 0 0 0 28.83 26.45 25.92

8534 1.31 366.7 3181 1992 1509 1290 65.8 8.2 414 8598 0.00 2.33 56.60 0.379 8452 0.000 0.057 3182 3402 1226 1336 1117 0 0 0 0 0 0 28.83 26.08 25.76

8734 1.31 366.7 3181 3402 1319 1106 44.3 13.3 426 8739 0.00 2.12 0.00 0.000 1030 0.000 0.036 3193 2003 1213 1320 1106 0 0 0 0 0 0 28.83 26.32 28.83

9039 1.34 390.3 3193 2003 1318 1105 12.7 9.1 468 9053 0.00 2.25 9.10 0.080 8452 0.000 0.059 3193 3412 1135 1245 1026 0 0 0 0 0 0 28.83 26.48 26.42

9117 end climb: SURFACE_DEPTH_REACHED

state 9117 begin surface coast

9137 end surface coast: CONTROL_FINISHED_OK

state 9138 begin surface

ID	171	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	27	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	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	34	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	400	R_STBD_OVSHOOT	21	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	2730	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	330	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_MISSION	380	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	2	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	-20326.865	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-8	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	175	C_PITCH	2760	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	17	PRESSURE_SLOPE	0.0001165165	SEABIRD_C_G	-10.475479
MASS	52107	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.2050543
NAV_MODE	2	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	280213,033543,2259.270,12127.042,10,1.4,10,-3.0	TGT_NAME	N2
_CALLS	1	TGT_LATLONG	2350.000,12355.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280213,034048,2259.443,12127.173,13,1.4,30,-3.0	MHEAD_RNG_PITCHd_Wd	117.5,267361,-16.1,-10.000,-19.78,2593
SPEED_LIMITS	0.173,0.278	D_GRID	627

FINISH	0.5,0.000000	_10V_AH	10.4,3.737
SM_CCo	9154,5.53,0.057,0,0,1098,400.08	FG_AHR_24Vo	0.000
SM_GC	2.92,7.82,1.42,5.53,0.036,0.035,0.057,139,2490,1098,-8.10,1.13,400.08,0,0,0,0,0,0,26.55,26.55,26.49	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2251.04,12121.11,280213,020235	MEM	324048
TT8_MAMPS	0.048685,0.048685	DATA_FILE_SIZE	16809,488
HUMID	45.66	CAP_FILE_SIZE	238981,0
INTERNAL_PRESSURE	9.6718	CFSIZE	260034560,251076608
TCM_TEMP	23.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.258, 40.9,1
SC_FREEKB	4011648	GPS	280213,061559,2259.955,12128.903,87,0.9,88,-3.0
_24V_AH	24.7,5.563

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	227	106.07	nil	0	0	0.00
Roll_motor	63	62	98.66	nil	0	0	0.00
VBD_pump_during_apogee	640	708	11199.98	nil	0	0	0.00
VBD_pump_during_surface	5	57	7.83	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	9127	3	830.96
Iridium_during_xfer	189	118	554.42	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	27	9.15
TT8	1831	35	684.38
LPSleep	5306	2	120.86
TT8_Active	641	35	239.67
TT8_Sampling	1564	58	950.43
TT8_CF8	134	65	91.95
TT8_Kalman	0	0	0.00
Analog_circuits	1587	15	247.68
GPS_charging	0	0	0.00
Compass	1284	5	80.02
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
17	-1.12	-170.3	126	2495	1091	874	0.0	0.0	0	73	0.00	0.00	-54.35	0.000	16386	0.000	0.000	127	2495	2582	2656	2508	0	0	0	0	0	0	28.83	28.83	28.83
76	-1.12	-170.3	126	2495	2657	2510	4.4	-7.5	7	108	8.73	2.17	-13.15	0.000	18948	0.227	0.050	2391	1045	3408	3425	3391	0	0	0	0	0	0	26.22	26.41	26.68
129	-1.12	-170.3	1448	1044	3408	3389	28.9	-44.2	14	137	0.00	2.25	0.00	0.000	1030	0.000	0.047	2380	2503	3408	3424	3393	0	0	0	0	0	0	28.83	26.41	28.83
447	-1.12	-170.3	2380	2503	3424	3397	135.3	-27.6	33	453	0.00	1.85	0.00	0.000	260	0.000	0.060	2372	3680	3410	3424	3397	0	0	0	0	0	0	28.83	26.58	28.83
683	-1.12	-170.3	2372	3680	3424	3404	204.2	-30.5	44	689	0.00	1.73	0.00	0.000	1030	0.000	0.027	2372	2482	3414	3424	3404	0	0	0	0	0	0	28.83	26.71	28.83
1001	-1.12	-170.3	2372	2480	3423	3406	301.0	-29.6	60	1002	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2480	3414	3424	3405	0	0	0	0	0	0	28.83	28.83	28.83
1301	-1.12	-170.3	2371	2480	3424	3406	386.2	-27.4	75	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2480	3415	3424	3406	0	0	0	0	0	0	28.83	28.83	28.83
1601	-1.12	-170.3	2371	2480	3423	3406	465.4	-25.4	90	1608	0.10	1.88	0.00	0.000	2308	0.176	0.060	2389	3674	3414	3423	3406	0	0	0	0	0	0	26.72	26.77	28.83
1694	-1.12	-170.3	2388	3674	3423	3406	485.2	-23.6	94	1701	0.00	1.70	0.00	0.000	1030	0.000	0.028	2389	2496	3414	3422	3406	0	0	0	0	0	0	28.83	26.83	28.83
2009	-1.12	-170.3	2388	2495	3421	3406	559.1	-22.7	110	2015	0.00	1.85	0.00	0.000	260	0.000	0.063	2379	3671	3413	3421	3405	0	0	0	0	0	0	28.83	26.79	28.83
2068	-1.12	-170.3	2379	3671	3420	3406	569.1	-22.7	112	2077	0.00	1.73	0.00	0.000	1030	0.000	0.028	2379	2512	3413	3420	3406	0	0	0	0	0	0	28.83	26.84	28.83
2313	end dive: TARGET_DEPTH_EXCEEDED
state	2313	begin apogee
2318	-0.29	0.0	2380	1994	3418	3403	627.6	-21.5	123	2551	0.82	0.00	223.90	0.613	10246	0.126	0.000	2655	1994	2724	2846	2602	0	0	0	0	0	0	26.73	28.83	24.90
2553	end apogee: CONTROL_FINISHED_OK
state	2553	begin climb
2554	1.12	170.3	2655	1994	2841	2598	641.1	0.0	130	2729	1.30	2.45	165.82	0.708	11012	0.076	0.055	3111	3415	2026	2176	1877	0	0	0	0	0	0	25.43	25.21	24.67
2962	1.12	170.3	3111	3415	2134	1862	626.7	10.4	143	2968	0.00	2.15	0.00	0.000	1030	0.000	0.034	3124	2010	1998	2134	1862	0	0	0	0	0	0	28.83	26.21	28.83
3285	1.12	170.3	3123	2011	2131	1859	593.1	10.1	155	3292	0.00	2.22	0.00	0.000	260	0.000	0.057	3123	3415	1995	2131	1859	0	0	0	0	0	0	28.83	26.47	28.83
3512	1.12	170.3	3123	3415	2129	1857	566.9	11.6	166	3519	0.00	2.15	0.00	0.000	1030	0.000	0.037	3135	1998	1993	2129	1857	0	0	0	0	0	0	28.83	26.60	28.83
3838	1.12	177.3	3134	1997	2126	1854	534.1	9.7	182	3844	0.00	2.25	0.00	0.000	260	0.000	0.060	3134	3414	1990	2126	1854	0	0	0	0	0	0	28.83	26.65	28.83
3892	1.12	177.3	3134	3414	2126	1854	529.3	10.1	184	3898	0.00	2.15	0.00	0.000	1030	0.000	0.038	3146	1992	1989	2125	1854	0	0	0	0	0	0	28.83	26.68	28.83
4206	1.14	194.7	3145	1991	2123	1852	498.1	9.3	200	4239	0.00	2.28	26.35	0.565	8452	0.000	0.060	3146	3414	1931	2072	1790	0	0	0	0	0	0	28.83	26.39	25.98
4386	1.14	194.7	3145	3414	2054	1777	481.2	10.2	208	4395	0.12	2.15	0.00	0.000	5126	0.169	0.038	3126	2002	1915	2054	1776	0	0	0	0	0	0	26.42	26.53	28.83
4694	1.16	214.3	3125	2002	2050	1774	452.3	9.2	224	4722	0.00	0.00	26.90	0.542	8198	0.000	0.000	3126	2001	1856	1997	1716	0	0	0	0	0	0	28.83	28.83	25.92
5013	1.16	214.3	3125	2002	1966	1701	418.4	10.9	240	5019	0.00	2.20	0.00	0.000	516	0.000	0.051	3136	582	1833	1966	1701	0	0	0	0	0	0	28.83	26.54	28.83
5046	1.16	214.3	3136	582	1965	1701	415.8	11.0	241	5052	0.00	2.17	0.00	0.000	1030	0.000	0.043	3136	2004	1833	1965	1701	0	0	0	0	0	0	28.83	26.56	28.83
5359	1.16	214.3	3136	2003	1962	1701	381.8	10.5	257	5360	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	2004	1831	1962	1701	0	0	0	0	0	0	28.83	28.83	28.83
5659	1.16	214.3	3139	2004	1960	1701	350.2	10.4	272	5660	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	2004	1829	1958	1701	0	0	0	0	0	0	28.83	28.83	28.83
5959	1.18	231.0	3136	2004	1958	1701	323.1	9.3	287	5981	0.00	0.00	18.42	0.519	8198	0.000	0.000	3137	2004	1786	1916	1656	0	0	0	0	0	0	28.83	28.83	26.13
6279	1.18	231.0	3135	2004	1889	1645	287.8	11.0	303	6285	0.00	2.20	0.00	0.000	260	0.000	0.056	3136	3411	1767	1890	1645	0	0	0	0	0	0	28.83	26.65	28.83
6367	1.18	231.0	2128	3411	1841	1639	278.1	11.4	307	6373	0.00	2.12	0.00	0.000	1030	0.000	0.032	3147	1988	1766	1888	1645	0	0	0	0	0	0	28.83	26.69	28.83
6687	1.18	231.0	3147	1988	1886	1646	241.0	11.2	323	6688	0.00	0.00	0.00	0.000	6	0.000	0.000	3147	1988	1766	1886	1646	0	0	0	0	0	0	28.83	28.83	28.83
6986	1.18	231.0	3147	1988	1885	1645	206.4	11.7	338	6992	0.00	2.22	0.00	0.000	260	0.000	0.054	3147	3414	1765	1885	1646	0	0	0	0	0	0	28.83	26.74	28.83
7014	1.18	231.0	3147	3414	1885	1645	203.6	11.7	339	7020	0.00	2.10	0.00	0.000	1030	0.000	0.033	3159	2002	1765	1885	1645	0	0	0	0	0	0	28.83	26.77	28.83
7333	1.18	231.0	3158	2002	1885	1645	167.0	10.1	355	7339	0.00	2.22	0.00	0.000	260	0.000	0.057	3159	3416	1765	1885	1645	0	0	0	0	0	0	28.83	26.77	28.83
7569	1.21	266.7	3158	3415	1884	1646	150.2	8.6	366	7627	0.00	2.12	49.40	0.430	9222	0.000	0.036	3170	1993	1635	1744	1526	0	0	0	0	0	0	28.83	26.80	25.98
7920	1.25	300.5	3170	1994	1719	1514	120.0	8.7	384	7971	0.00	2.33	41.97	0.413	8964	0.000	0.057	3170	3412	1496	1607	1385	0	0	0	0	0	0	28.83	26.20	25.85
8199	1.27	320.3	3170	3410	1589	1372	91.8	9.2	397	8228	0.00	2.15	21.62	0.396	9222	0.000	0.036	3181	1993	1418	1530	1307	0	0	0	0	0	0	28.83	26.45	25.92
8534	1.31	366.7	3181	1992	1509	1290	65.8	8.2	414	8598	0.00	2.33	56.60	0.379	8452	0.000	0.057	3182	3402	1226	1336	1117	0	0	0	0	0	0	28.83	26.08	25.76
8734	1.31	366.7	3181	3402	1319	1106	44.3	13.3	426	8739	0.00	2.12	0.00	0.000	1030	0.000	0.036	3193	2003	1213	1320	1106	0	0	0	0	0	0	28.83	26.32	28.83
9039	1.34	390.3	3193	2003	1318	1105	12.7	9.1	468	9053	0.00	2.25	9.10	0.080	8452	0.000	0.059	3193	3412	1135	1245	1026	0	0	0	0	0	0	28.83	26.48	26.42
9117	end climb: SURFACE_DEPTH_REACHED
state	9117	begin surface coast
9137	end surface coast: CONTROL_FINISHED_OK
state	9138	begin surface