Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 277 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING 270 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 277 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 950 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 57 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 40 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 380 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0035000001 DEVICE5 -1

T_MISSION 410 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 -20867.346 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 250 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 950 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 380

CALL_WAIT 60 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING 270 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 -20867.346

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 410

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 -8

DEEPGLIDER 0 MASS 52107 ROLL_MIN 181 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 57 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 40 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 277 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 040413,070227,2339.248,12154.361,10,4.3,30,-3.2 TGT_NAME HEADING

_CALLS 5 TGT_LATLONG 2339.880,12142.864

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040413,071605,2339.880,12154.655,13,1.6,29,-3.2 MHEAD_RNG_PITCHd_Wd 273.2,20000,-10.6,-8.333,-15.41,4401

SPEED_LIMITS 0.144,0.302 D_GRID 4137

Post-dive calculations and measurements:

FINISH 0.2,1.022071 _24V_AH 24.1,40.916

SM_CCo 9304,42.42,0.059,0,0,748,400.08 _10V_AH 10.2,26.938

SM_GC 0.83,8.52,0.77,42.42,0.037,0.053,0.059,137,2489,748,-8.31,-1.39,400.08,0,0,0,0,0,0,25.82,25.77,25.76 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2316.83,11254.35,040413,070720 FG_AHR_10Vo 0.000

TT8_MAMPS 0.047936,0.047936 MEM 324272

HUMID 46.77 DATA_FILE_SIZE 16716,429

INTERNAL_PRESSURE 9.63274 CAP_FILE_SIZE 243310,0

TCM_TEMP 23.30 CFSIZE 260034560,226193408

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

SC_FREEKB 3932000 GPS 040413,095336,2341.928,12153.630,34,1.0,35,-3.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 221 110.03 nil 0 0 0.00

Roll_motor 63 67 102.50 nil 0 0 0.00

VBD_pump_during_apogee 986 730 17365.20 nil 0 0 0.00

VBD_pump_during_surface 42 58 60.23 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 9292 4 920.16

Iridium_during_xfer 400 123 1195.43 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 27 8.65

TT8 1649 35 604.44

LPSleep 5623 2 125.61

TT8_Active 898 35 329.22

TT8_Sampling 1671 58 995.84

TT8_CF8 320 65 215.54

TT8_Kalman 0 0 0.00

Analog_circuits 2110 15 322.90

GPS_charging 0 0 0.00

Compass 1181 5 72.19

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -1.28 -243.3 126 2504 860 666 0.0 0.0 0 79 0.00 0.00 -58.38 0.000 16386 0.000 0.000 126 2504 2494 2568 2420 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.28 -243.3 126 2504 2568 2423 4.4 -8.8 8 113 8.98 1.90 -14.30 0.000 18692 0.221 0.067 2394 3662 3377 3435 3319 0 0 0 0 0 0 25.60 26.06 26.51

286 -1.28 -243.3 2394 3662 3436 3319 82.3 -33.6 25 292 0.00 1.70 0.00 0.000 1030 0.000 0.025 2394 2489 3377 3436 3318 0 0 0 0 0 0 28.83 26.33 28.83

607 -1.28 -243.3 2394 2487 3442 3319 174.0 -27.1 41 613 0.00 2.05 0.00 0.000 516 0.000 0.031 2394 1102 3380 3442 3319 0 0 0 0 0 0 28.83 26.39 28.83

653 -1.28 -243.3 2394 1102 3441 3319 186.3 -27.7 43 659 0.00 2.12 0.00 0.000 1030 0.000 0.039 2383 2494 3380 3442 3319 0 0 0 0 0 0 28.83 26.34 28.83

979 -1.28 -243.3 2383 2494 3442 3320 278.9 -26.6 59 985 0.00 1.83 0.00 0.000 260 0.000 0.054 2375 3671 3381 3442 3320 0 0 0 0 0 0 28.83 26.34 28.83

1090 -1.28 -243.3 1440 3670 3429 3316 308.3 -27.4 64 1096 0.12 1.67 0.00 0.000 3078 0.156 0.024 2406 2494 3381 3443 3320 0 0 0 0 0 0 26.22 26.55 28.83

1412 -1.28 -243.3 2406 2493 3442 3320 386.3 -22.4 80 1417 0.00 2.05 0.00 0.000 516 0.000 0.031 2406 1099 3381 3442 3320 0 0 0 0 0 0 28.83 26.51 28.83

1457 -1.28 -243.3 2406 1098 3442 3320 396.8 -22.5 82 1463 0.00 2.15 0.00 0.000 1030 0.000 0.039 2397 2501 3381 3442 3320 0 0 0 0 0 0 28.83 26.41 28.83

1783 -1.28 -243.3 2397 2502 3442 3319 471.7 -23.6 98 1790 0.00 2.08 0.00 0.000 516 0.000 0.029 2397 1099 3380 3442 3319 0 0 0 0 0 0 28.83 26.53 28.83

1811 -1.28 -243.3 2396 1099 3442 3319 477.8 -23.6 99 1817 0.00 2.15 0.00 0.000 1030 0.000 0.038 2386 2503 3380 3442 3318 0 0 0 0 0 0 28.83 26.43 28.83

2132 -1.28 -243.3 2383 2503 3441 3314 554.3 -23.0 115 2134 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2503 3377 3441 3313 0 0 0 0 0 0 28.83 28.83 28.83

2450 -1.28 -243.3 2386 2501 3441 3308 628.7 -23.1 129 2451 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2503 3375 3442 3308 0 0 0 0 0 0 28.83 28.83 28.83

2750 -1.28 -243.3 2386 2503 3441 3303 693.7 -21.6 139 2751 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2503 3372 3441 3303 0 0 0 0 0 0 28.83 28.83 28.83

3051 -1.28 -243.3 2386 2503 3438 3300 759.8 -21.8 149 3057 0.00 1.83 0.00 0.000 260 0.000 0.054 2377 3671 3368 3438 3299 0 0 0 0 0 0 28.83 26.39 28.83

3099 -1.28 -243.3 2376 3671 3438 3299 767.5 -21.6 150 3106 0.08 1.73 0.00 0.000 3078 0.138 0.026 2403 2502 3368 3438 3299 0 0 0 0 0 0 26.31 26.63 28.83

3419 -1.28 -243.3 2403 2501 3436 3293 834.9 -19.8 161 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2501 3364 3436 3292 0 0 0 0 0 0 28.83 28.83 28.83

3720 -1.28 -243.3 2403 2500 3435 3288 894.3 -19.7 171 3721 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2500 3361 3435 3287 0 0 0 0 0 0 28.83 28.83 28.83

4017 end dive: TARGET_DEPTH_EXCEEDED

state 4017 begin apogee

4024 -0.20 0.0 2404 2007 3432 3283 950.9 -18.9 181 4474 1.05 0.00 439.02 0.701 10246 0.119 0.000 2750 2005 2376 2533 2220 0 0 0 0 0 0 26.03 28.83 24.24

4478 end apogee: CONTROL_FINISHED_OK

state 4478 begin climb

4480 1.28 243.3 2749 2006 2526 2209 979.9 0.0 195 4879 1.33 2.30 381.67 0.731 10756 0.046 0.035 3252 625 1378 1489 1268 0 0 0 0 0 0 25.08 24.79 24.11

4957 1.28 243.3 2304 625 1446 1250 911.8 24.6 210 4965 0.00 2.17 0.00 0.000 1030 0.000 0.030 3252 2017 1362 1472 1253 0 0 0 0 0 0 28.83 25.45 28.83

5265 1.28 243.3 3251 2017 1464 1246 823.9 26.6 221 5271 0.00 2.20 0.00 0.000 260 0.000 0.046 3252 3411 1355 1464 1246 0 0 0 0 0 0 28.83 26.06 28.83

5333 1.28 243.3 3252 3411 1463 1246 805.5 27.0 223 5340 0.12 2.12 0.00 0.000 5126 0.183 0.028 3233 1998 1354 1462 1246 0 0 0 0 0 0 25.89 26.19 28.83

5664 1.28 243.3 3233 1998 1461 1242 721.9 25.6 234 5665 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 1998 1351 1461 1242 0 0 0 0 0 0 28.83 28.83 28.83

5964 1.28 243.3 3233 1998 1460 1241 647.5 25.0 244 5965 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 1998 1348 1456 1241 0 0 0 0 0 0 28.83 28.83 28.83

6275 1.28 243.3 3232 1998 1458 1240 571.9 23.7 256 6281 0.00 2.22 0.00 0.000 260 0.000 0.047 3233 3403 1349 1458 1240 0 0 0 0 0 0 28.83 26.37 28.83

6314 1.28 243.3 3233 3403 1458 1240 565.8 23.6 257 6322 0.00 2.10 0.00 0.000 1030 0.000 0.030 3244 1995 1349 1458 1240 0 0 0 0 0 0 28.83 26.47 28.83

6620 1.28 243.3 3244 1995 1456 1238 487.6 25.1 273 6626 0.00 2.12 0.00 0.000 516 0.000 0.041 3255 609 1347 1456 1238 0 0 0 0 0 0 28.83 26.41 28.83

6707 1.28 243.3 3254 609 1455 1238 466.2 24.6 277 6713 0.00 2.10 0.00 0.000 1030 0.000 0.031 3255 2004 1346 1455 1238 0 0 0 0 0 0 28.83 26.46 28.83

7033 1.28 243.3 3253 2004 1454 1238 385.5 25.8 293 7038 0.00 2.15 0.00 0.000 516 0.000 0.040 3267 606 1346 1454 1238 0 0 0 0 0 0 28.83 26.43 28.83

7088 1.28 243.3 3267 606 1453 1238 373.7 25.6 295 7095 0.12 2.08 0.00 0.000 5126 0.171 0.031 3234 1999 1345 1453 1238 0 0 0 0 0 0 26.17 26.48 28.83

7404 1.28 243.3 3234 2000 1453 1237 299.4 22.5 311 7410 0.00 2.12 0.00 0.000 516 0.000 0.040 3245 609 1347 1453 1241 0 0 0 0 0 0 28.83 26.44 28.83

7480 1.28 243.3 3245 609 1453 1237 285.0 21.5 314 7486 0.00 2.08 0.00 0.000 1030 0.000 0.031 3245 2002 1345 1453 1237 0 0 0 0 0 0 28.83 26.50 28.83

7795 1.28 243.3 3245 2002 1453 1237 217.8 20.9 330 7800 0.00 2.17 0.00 0.000 260 0.000 0.045 3245 3406 1345 1453 1237 0 0 0 0 0 0 28.83 26.41 28.83

7972 1.28 243.3 3245 3406 1453 1237 179.9 21.9 338 7978 0.00 2.08 0.00 0.000 1030 0.000 0.029 3257 1998 1345 1453 1237 0 0 0 0 0 0 28.83 26.53 28.83

8286 1.28 243.3 3257 1998 1452 1236 119.6 14.5 354 8292 0.00 2.12 0.00 0.000 516 0.000 0.041 3268 610 1344 1452 1236 0 0 0 0 0 0 28.83 26.43 28.83

8525 1.28 243.3 3267 610 1452 1235 87.5 14.1 365 8531 0.12 2.08 0.00 0.000 5126 0.161 0.031 3233 2003 1343 1452 1235 0 0 0 0 0 0 26.21 26.50 28.83

8841 1.28 243.3 3233 2004 1452 1235 50.4 11.3 381 8847 0.00 2.15 0.00 0.000 516 0.000 0.039 3244 606 1343 1452 1235 0 0 0 0 0 0 28.83 26.44 28.83

9082 1.54 317.7 3245 606 1452 1235 27.7 6.6 403 9259 0.20 2.08 165.57 0.361 11270 0.058 0.030 3350 2004 1080 1190 970 0 0 0 0 0 0 26.53 26.51 25.18

9267 end climb: SURFACE_DEPTH_REACHED

state 9267 begin surface coast

9283 end surface coast: CONTROL_FINISHED_OK

state 9284 begin surface

ID	171	HEADING	270	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	277	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	950	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	57	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	40	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	380	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0035000001	DEVICE5	-1
T_MISSION	410	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	-20867.346	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	250	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	040413,070227,2339.248,12154.361,10,4.3,30,-3.2	TGT_NAME	HEADING
_CALLS	5	TGT_LATLONG	2339.880,12142.864
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040413,071605,2339.880,12154.655,13,1.6,29,-3.2	MHEAD_RNG_PITCHd_Wd	273.2,20000,-10.6,-8.333,-15.41,4401
SPEED_LIMITS	0.144,0.302	D_GRID	4137

FINISH	0.2,1.022071	_24V_AH	24.1,40.916
SM_CCo	9304,42.42,0.059,0,0,748,400.08	_10V_AH	10.2,26.938
SM_GC	0.83,8.52,0.77,42.42,0.037,0.053,0.059,137,2489,748,-8.31,-1.39,400.08,0,0,0,0,0,0,25.82,25.77,25.76	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2316.83,11254.35,040413,070720	FG_AHR_10Vo	0.000
TT8_MAMPS	0.047936,0.047936	MEM	324272
HUMID	46.77	DATA_FILE_SIZE	16716,429
INTERNAL_PRESSURE	9.63274	CAP_FILE_SIZE	243310,0
TCM_TEMP	23.30	CFSIZE	260034560,226193408
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3932000	GPS	040413,095336,2341.928,12153.630,34,1.0,35,-3.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	221	110.03	nil	0	0	0.00
Roll_motor	63	67	102.50	nil	0	0	0.00
VBD_pump_during_apogee	986	730	17365.20	nil	0	0	0.00
VBD_pump_during_surface	42	58	60.23	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	9292	4	920.16
Iridium_during_xfer	400	123	1195.43	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	27	8.65
TT8	1649	35	604.44
LPSleep	5623	2	125.61
TT8_Active	898	35	329.22
TT8_Sampling	1671	58	995.84
TT8_CF8	320	65	215.54
TT8_Kalman	0	0	0.00
Analog_circuits	2110	15	322.90
GPS_charging	0	0	0.00
Compass	1181	5	72.19
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-1.28	-243.3	126	2504	860	666	0.0	0.0	0	79	0.00	0.00	-58.38	0.000	16386	0.000	0.000	126	2504	2494	2568	2420	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.28	-243.3	126	2504	2568	2423	4.4	-8.8	8	113	8.98	1.90	-14.30	0.000	18692	0.221	0.067	2394	3662	3377	3435	3319	0	0	0	0	0	0	25.60	26.06	26.51
286	-1.28	-243.3	2394	3662	3436	3319	82.3	-33.6	25	292	0.00	1.70	0.00	0.000	1030	0.000	0.025	2394	2489	3377	3436	3318	0	0	0	0	0	0	28.83	26.33	28.83
607	-1.28	-243.3	2394	2487	3442	3319	174.0	-27.1	41	613	0.00	2.05	0.00	0.000	516	0.000	0.031	2394	1102	3380	3442	3319	0	0	0	0	0	0	28.83	26.39	28.83
653	-1.28	-243.3	2394	1102	3441	3319	186.3	-27.7	43	659	0.00	2.12	0.00	0.000	1030	0.000	0.039	2383	2494	3380	3442	3319	0	0	0	0	0	0	28.83	26.34	28.83
979	-1.28	-243.3	2383	2494	3442	3320	278.9	-26.6	59	985	0.00	1.83	0.00	0.000	260	0.000	0.054	2375	3671	3381	3442	3320	0	0	0	0	0	0	28.83	26.34	28.83
1090	-1.28	-243.3	1440	3670	3429	3316	308.3	-27.4	64	1096	0.12	1.67	0.00	0.000	3078	0.156	0.024	2406	2494	3381	3443	3320	0	0	0	0	0	0	26.22	26.55	28.83
1412	-1.28	-243.3	2406	2493	3442	3320	386.3	-22.4	80	1417	0.00	2.05	0.00	0.000	516	0.000	0.031	2406	1099	3381	3442	3320	0	0	0	0	0	0	28.83	26.51	28.83
1457	-1.28	-243.3	2406	1098	3442	3320	396.8	-22.5	82	1463	0.00	2.15	0.00	0.000	1030	0.000	0.039	2397	2501	3381	3442	3320	0	0	0	0	0	0	28.83	26.41	28.83
1783	-1.28	-243.3	2397	2502	3442	3319	471.7	-23.6	98	1790	0.00	2.08	0.00	0.000	516	0.000	0.029	2397	1099	3380	3442	3319	0	0	0	0	0	0	28.83	26.53	28.83
1811	-1.28	-243.3	2396	1099	3442	3319	477.8	-23.6	99	1817	0.00	2.15	0.00	0.000	1030	0.000	0.038	2386	2503	3380	3442	3318	0	0	0	0	0	0	28.83	26.43	28.83
2132	-1.28	-243.3	2383	2503	3441	3314	554.3	-23.0	115	2134	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2503	3377	3441	3313	0	0	0	0	0	0	28.83	28.83	28.83
2450	-1.28	-243.3	2386	2501	3441	3308	628.7	-23.1	129	2451	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2503	3375	3442	3308	0	0	0	0	0	0	28.83	28.83	28.83
2750	-1.28	-243.3	2386	2503	3441	3303	693.7	-21.6	139	2751	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2503	3372	3441	3303	0	0	0	0	0	0	28.83	28.83	28.83
3051	-1.28	-243.3	2386	2503	3438	3300	759.8	-21.8	149	3057	0.00	1.83	0.00	0.000	260	0.000	0.054	2377	3671	3368	3438	3299	0	0	0	0	0	0	28.83	26.39	28.83
3099	-1.28	-243.3	2376	3671	3438	3299	767.5	-21.6	150	3106	0.08	1.73	0.00	0.000	3078	0.138	0.026	2403	2502	3368	3438	3299	0	0	0	0	0	0	26.31	26.63	28.83
3419	-1.28	-243.3	2403	2501	3436	3293	834.9	-19.8	161	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2501	3364	3436	3292	0	0	0	0	0	0	28.83	28.83	28.83
3720	-1.28	-243.3	2403	2500	3435	3288	894.3	-19.7	171	3721	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2500	3361	3435	3287	0	0	0	0	0	0	28.83	28.83	28.83
4017	end dive: TARGET_DEPTH_EXCEEDED
state	4017	begin apogee
4024	-0.20	0.0	2404	2007	3432	3283	950.9	-18.9	181	4474	1.05	0.00	439.02	0.701	10246	0.119	0.000	2750	2005	2376	2533	2220	0	0	0	0	0	0	26.03	28.83	24.24
4478	end apogee: CONTROL_FINISHED_OK
state	4478	begin climb
4480	1.28	243.3	2749	2006	2526	2209	979.9	0.0	195	4879	1.33	2.30	381.67	0.731	10756	0.046	0.035	3252	625	1378	1489	1268	0	0	0	0	0	0	25.08	24.79	24.11
4957	1.28	243.3	2304	625	1446	1250	911.8	24.6	210	4965	0.00	2.17	0.00	0.000	1030	0.000	0.030	3252	2017	1362	1472	1253	0	0	0	0	0	0	28.83	25.45	28.83
5265	1.28	243.3	3251	2017	1464	1246	823.9	26.6	221	5271	0.00	2.20	0.00	0.000	260	0.000	0.046	3252	3411	1355	1464	1246	0	0	0	0	0	0	28.83	26.06	28.83
5333	1.28	243.3	3252	3411	1463	1246	805.5	27.0	223	5340	0.12	2.12	0.00	0.000	5126	0.183	0.028	3233	1998	1354	1462	1246	0	0	0	0	0	0	25.89	26.19	28.83
5664	1.28	243.3	3233	1998	1461	1242	721.9	25.6	234	5665	0.00	0.00	0.00	0.000	6	0.000	0.000	3233	1998	1351	1461	1242	0	0	0	0	0	0	28.83	28.83	28.83
5964	1.28	243.3	3233	1998	1460	1241	647.5	25.0	244	5965	0.00	0.00	0.00	0.000	6	0.000	0.000	3233	1998	1348	1456	1241	0	0	0	0	0	0	28.83	28.83	28.83
6275	1.28	243.3	3232	1998	1458	1240	571.9	23.7	256	6281	0.00	2.22	0.00	0.000	260	0.000	0.047	3233	3403	1349	1458	1240	0	0	0	0	0	0	28.83	26.37	28.83
6314	1.28	243.3	3233	3403	1458	1240	565.8	23.6	257	6322	0.00	2.10	0.00	0.000	1030	0.000	0.030	3244	1995	1349	1458	1240	0	0	0	0	0	0	28.83	26.47	28.83
6620	1.28	243.3	3244	1995	1456	1238	487.6	25.1	273	6626	0.00	2.12	0.00	0.000	516	0.000	0.041	3255	609	1347	1456	1238	0	0	0	0	0	0	28.83	26.41	28.83
6707	1.28	243.3	3254	609	1455	1238	466.2	24.6	277	6713	0.00	2.10	0.00	0.000	1030	0.000	0.031	3255	2004	1346	1455	1238	0	0	0	0	0	0	28.83	26.46	28.83
7033	1.28	243.3	3253	2004	1454	1238	385.5	25.8	293	7038	0.00	2.15	0.00	0.000	516	0.000	0.040	3267	606	1346	1454	1238	0	0	0	0	0	0	28.83	26.43	28.83
7088	1.28	243.3	3267	606	1453	1238	373.7	25.6	295	7095	0.12	2.08	0.00	0.000	5126	0.171	0.031	3234	1999	1345	1453	1238	0	0	0	0	0	0	26.17	26.48	28.83
7404	1.28	243.3	3234	2000	1453	1237	299.4	22.5	311	7410	0.00	2.12	0.00	0.000	516	0.000	0.040	3245	609	1347	1453	1241	0	0	0	0	0	0	28.83	26.44	28.83
7480	1.28	243.3	3245	609	1453	1237	285.0	21.5	314	7486	0.00	2.08	0.00	0.000	1030	0.000	0.031	3245	2002	1345	1453	1237	0	0	0	0	0	0	28.83	26.50	28.83
7795	1.28	243.3	3245	2002	1453	1237	217.8	20.9	330	7800	0.00	2.17	0.00	0.000	260	0.000	0.045	3245	3406	1345	1453	1237	0	0	0	0	0	0	28.83	26.41	28.83
7972	1.28	243.3	3245	3406	1453	1237	179.9	21.9	338	7978	0.00	2.08	0.00	0.000	1030	0.000	0.029	3257	1998	1345	1453	1237	0	0	0	0	0	0	28.83	26.53	28.83
8286	1.28	243.3	3257	1998	1452	1236	119.6	14.5	354	8292	0.00	2.12	0.00	0.000	516	0.000	0.041	3268	610	1344	1452	1236	0	0	0	0	0	0	28.83	26.43	28.83
8525	1.28	243.3	3267	610	1452	1235	87.5	14.1	365	8531	0.12	2.08	0.00	0.000	5126	0.161	0.031	3233	2003	1343	1452	1235	0	0	0	0	0	0	26.21	26.50	28.83
8841	1.28	243.3	3233	2004	1452	1235	50.4	11.3	381	8847	0.00	2.15	0.00	0.000	516	0.000	0.039	3244	606	1343	1452	1235	0	0	0	0	0	0	28.83	26.44	28.83
9082	1.54	317.7	3245	606	1452	1235	27.7	6.6	403	9259	0.20	2.08	165.57	0.361	11270	0.058	0.030	3350	2004	1080	1190	970	0	0	0	0	0	0	26.53	26.51	25.18
9267	end climb: SURFACE_DEPTH_REACHED
state	9267	begin surface coast
9283	end surface coast: CONTROL_FINISHED_OK
state	9284	begin surface