Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 30 * 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 30 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 96 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 50 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 -968518.5 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 -968518.5

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 96 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 50 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 30 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 201012,001129,2203.962,12107.972,39,0.9,39,-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 -60.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201012,001748,2203.961,12107.965,5,0.9,5,-3.2 MHEAD_RNG_PITCHd_Wd 19.3,114575,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 1259

Post-dive calculations and measurements:

FINISH 1.1,1.021965 _10V_AH 10.2,7.219

SM_CCo 10896,0.00,0.000,0,0,457,615.95 FG_AHR_24Vo 0.000

SM_GC 1.45,7.47,0.17,0.00,0.027,0.063,0.000,106,2279,457,-8.12,-0.93,615.95,0,0,0,0,0,0,26.52,26.53,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2152.74,12108.59,191012,202020 MEM 323820

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 23431,624

HUMID 52.44 CAP_FILE_SIZE 131506,0

INTERNAL_PRESSURE 9.43396 CFSIZE 260165632,246808576

TCM_TEMP 27.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0

XPDR_PINGS 7 CURRENT 0.137,219.7,1

ALTIM_BOTTOM_PING 552.2,8.0 GPS 201012,032106,2205.083,12107.710,32,0.8,32,-3.2

_24V_AH 24.1,13.559

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 225 112.04 nil 0 0 0.00

Roll_motor 50 75 92.31 nil 0 0 0.00

VBD_pump_during_apogee 645 1227 19089.56 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 10829 16 4293.62

Iridium_during_xfer 226 122 668.36 nil 0 0 0.00

Transponder_ping 2 420 25.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.59

TT8 1730 14 259.59

LPSleep 7041 2 157.29

TT8_Active 797 14 119.70

TT8_Sampling 1468 37 568.03

TT8_CF8 243 44 111.06

TT8_Kalman 0 0 0.00

Analog_circuits 1701 16 277.76

GPS_charging 0 0 0.00

Compass 1187 8 99.83

RAFOS 0 0 0.00

Transponder 7 30 2.23

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 91 0.00 0.00 -69.95 0.000 2 0.000 0.000 111 2323 2483 0 0 0 0 0 0 28.83 28.83 28.83

94 -0.47 -195.5 3.0 -5.5 12 143 9.60 1.25 -30.45 0.000 4 0.226 0.073 2581 3113 3767 0 0 0 0 0 0 25.79 26.22 26.55

177 -0.47 -195.5 14.3 -15.2 26 184 0.00 1.23 0.00 0.000 6 0.000 0.021 2581 2264 3768 0 0 0 0 0 0 28.83 26.35 28.83

502 -0.44 -195.5 72.9 -18.5 57 503 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2264 3768 0 0 0 0 0 0 28.83 28.83 28.83

804 -0.50 -195.5 104.3 -6.4 72 810 0.00 1.30 0.00 0.000 4 0.000 0.044 2581 3109 3769 0 0 0 0 0 0 28.83 26.51 28.83

964 -0.58 -195.5 115.8 -6.4 80 970 0.00 1.23 0.00 0.000 6 0.000 0.022 2581 2245 3769 0 0 0 0 0 0 28.83 26.65 28.83

1282 -0.67 -195.5 139.6 -7.1 96 1290 0.17 1.35 0.00 0.000 4 0.063 0.042 2476 3116 3770 0 0 0 0 0 0 26.71 26.59 28.83

1362 -0.67 -195.5 150.4 -13.6 100 1366 0.17 1.25 0.00 0.000 6 0.130 0.021 2528 2240 3770 0 0 0 0 0 0 26.44 26.70 28.83

1674 -0.72 -195.5 184.1 -8.2 116 1681 0.00 1.23 0.00 0.000 4 0.000 0.031 2528 1384 3770 0 0 0 0 0 0 28.83 26.69 28.83

1743 -0.77 -195.5 189.4 -8.7 119 1747 0.12 1.30 0.00 0.000 6 0.078 0.031 2446 2253 3770 0 0 0 0 0 0 26.65 26.67 28.83

2044 -0.74 -195.5 230.1 -12.3 134 2051 0.17 1.33 0.00 0.000 4 0.141 0.047 2493 3116 3769 0 0 0 0 0 0 26.49 26.63 28.83

2104 -0.74 -195.5 235.4 -9.6 137 2111 0.00 1.25 0.00 0.000 6 0.000 0.021 2493 2248 3773 0 0 0 0 0 0 28.83 26.75 28.83

2425 -0.78 -195.5 262.9 -9.5 153 2431 0.00 1.35 0.00 0.000 4 0.000 0.044 2493 3114 3768 0 0 0 0 0 0 28.83 26.65 28.83

2553 -0.81 -195.5 275.4 -10.5 159 2556 0.00 1.25 0.00 0.000 6 0.000 0.021 2493 2251 3767 0 0 0 0 0 0 28.83 26.76 28.83

2855 -0.85 -195.5 306.6 -10.8 174 2861 0.00 1.35 0.00 0.000 4 0.000 0.045 2493 3113 3766 0 0 0 0 0 0 28.83 26.64 28.83

2935 -0.89 -195.5 314.5 -10.0 178 2942 0.10 1.25 0.00 0.000 6 0.094 0.022 2422 2249 3765 0 0 0 0 0 0 26.70 26.77 28.83

3254 -0.86 -195.5 360.1 -14.6 194 3262 0.15 1.25 0.00 0.000 4 0.152 0.031 2464 1393 3763 0 0 0 0 0 0 26.52 26.70 28.83

3405 -0.88 -195.5 375.0 -9.5 201 3413 0.00 1.27 0.00 0.000 6 0.000 0.037 2463 2238 3762 0 0 0 0 0 0 28.83 26.68 28.83

3714 -0.90 -195.5 407.8 -10.8 217 3721 0.00 1.38 0.00 0.000 4 0.000 0.047 2464 3130 3760 0 0 0 0 0 0 28.83 26.66 28.83

3923 -0.92 -195.5 431.6 -12.0 227 3926 0.00 1.27 0.00 0.000 6 0.000 0.023 2464 2237 3758 0 0 0 0 0 0 28.83 26.77 28.83

4224 -0.95 -195.5 473.5 -13.4 242 4231 0.00 1.42 -0.08 0.000 4 0.000 0.071 2464 3123 3780 0 0 0 0 0 0 28.83 26.63 25.86

4284 -0.98 -195.5 481.4 -13.2 245 4291 0.12 1.25 0.00 0.000 6 0.082 0.023 2396 2265 3780 0 0 0 0 0 0 26.68 26.76 28.83

4604 -0.94 -195.5 534.2 -16.0 261 4606 0.15 0.00 0.00 0.000 6 0.153 0.000 2436 2264 3777 0 0 0 0 0 0 26.51 28.83 28.83

4744 end dive: BOTTOM_OBSTACLE_DETECTED

state 4744 begin apogee

4751 -0.20 0.0 552.2 -12.4 268 4913 0.68 0.00 158.00 0.898 6 0.108 0.000 2669 2104 2967 0 0 0 0 0 0 26.39 28.83 24.43

4916 end apogee: CONTROL_FINISHED_OK

state 4916 begin climb

4918 0.47 195.5 561.2 0.0 276 5084 0.57 0.00 161.57 0.855 6 0.043 0.000 2903 2103 2168 0 0 0 0 0 0 25.25 28.83 24.32

5385 0.43 198.4 525.9 9.9 299 5386 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 2103 2147 0 0 0 0 0 0 28.83 28.83 28.83

5686 0.39 213.3 497.8 9.5 314 5712 0.12 1.48 13.00 0.857 4 0.145 0.042 2869 3030 2087 0 0 0 0 1 0 26.25 26.10 24.85

5944 0.37 220.2 473.5 9.8 327 5952 0.00 1.27 1.75 0.185 6 0.000 0.024 2869 2165 2068 0 0 0 0 0 0 28.83 26.38 26.04

6264 0.36 220.2 440.3 11.1 343 6270 0.00 1.35 0.00 0.000 4 0.000 0.041 2869 3031 2076 0 0 0 0 0 0 28.83 26.43 28.83

6466 0.34 220.2 418.9 10.5 353 6471 0.00 1.27 0.00 0.000 6 0.000 0.026 2869 2153 2076 0 0 0 0 0 0 28.83 26.56 28.83

6784 0.35 244.5 388.7 9.2 369 6815 0.00 1.42 22.60 1.029 4 0.000 0.042 2869 3037 1970 0 0 0 0 1 0 28.83 26.01 24.96

7043 0.36 253.8 364.7 9.7 381 7065 0.00 1.33 13.00 0.903 6 0.000 0.025 2869 2146 1931 0 0 0 0 1 0 28.83 26.34 24.79

7364 0.37 276.2 334.2 9.2 397 7391 0.00 0.00 20.25 0.977 6 0.000 0.000 2869 2144 1840 0 0 0 0 1 0 28.83 28.83 24.84

7685 0.40 319.9 305.6 8.5 413 7736 0.00 1.48 41.30 1.227 4 0.000 0.041 2869 3027 1661 0 0 0 0 1 0 28.83 25.25 24.28

7805 0.43 361.2 296.1 8.6 418 7854 0.00 1.35 38.50 1.168 6 0.000 0.024 2869 2138 1495 0 0 0 0 1 0 28.83 25.81 24.13

8154 0.48 388.6 264.7 9.1 436 8193 0.00 1.42 26.33 1.035 4 0.000 0.041 2869 3021 1383 0 0 0 0 1 0 28.83 25.53 24.52

8276 0.53 415.9 254.0 9.1 442 8314 0.10 1.27 26.42 1.021 6 0.045 0.024 2941 2143 1271 0 0 0 0 1 0 25.90 25.94 24.39

8614 0.52 415.9 214.3 10.4 459 8621 0.12 1.40 0.00 0.000 4 0.145 0.039 2907 3035 1274 0 0 0 0 0 0 26.08 26.16 28.83

8834 0.53 415.9 192.3 11.4 470 8837 0.00 1.30 0.00 0.000 6 0.000 0.034 2908 2155 1273 0 0 0 0 0 0 28.83 26.38 28.83

9145 0.57 415.9 159.2 10.7 486 9152 0.00 1.38 0.00 0.000 4 0.000 0.038 2908 3043 1272 0 0 0 0 0 0 28.83 26.44 28.83

9245 0.59 415.9 148.2 11.3 491 9252 0.00 1.30 0.00 0.000 6 0.000 0.022 2908 2148 1272 0 0 0 0 0 0 28.83 26.54 28.83

9565 0.69 514.7 120.2 6.6 507 9654 0.15 1.45 83.20 0.608 4 0.070 0.039 3000 3038 862 0 0 0 0 0 0 26.63 25.55 25.02

9675 0.67 514.7 108.3 13.1 512 9683 0.17 1.35 0.00 0.000 6 0.132 0.023 2952 2147 854 0 0 0 0 0 0 25.60 25.75 28.83

9986 0.77 567.4 79.9 8.2 528 10014 0.12 1.40 19.33 0.303 4 0.077 0.038 3036 3030 656 0 0 0 0 0 0 26.31 26.10 25.64

10126 0.77 567.4 58.9 16.5 535 10133 0.15 1.30 0.00 0.000 6 0.141 0.022 2990 2142 661 0 0 0 0 0 0 26.10 26.29 28.83

10435 0.85 605.0 34.1 8.7 561 10454 0.00 0.00 16.38 0.200 6 0.000 0.000 2990 2141 498 0 0 0 0 0 0 28.83 28.83 25.97

10757 0.97 673.5 8.9 7.6 613 10764 0.15 0.00 3.90 0.149 6 0.066 0.000 3095 2142 455 0 0 0 0 0 0 26.58 28.83 26.19

10799 end climb: SURFACE_DEPTH_REACHED

state 10799 begin surface coast

10818 end surface coast: CONTROL_FINISHED_OK

state 10818 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	30	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	96	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	50	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	-968518.5	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	201012,001129,2203.962,12107.972,39,0.9,39,-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	-60.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201012,001748,2203.961,12107.965,5,0.9,5,-3.2	MHEAD_RNG_PITCHd_Wd	19.3,114575,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	1259

FINISH	1.1,1.021965	_10V_AH	10.2,7.219
SM_CCo	10896,0.00,0.000,0,0,457,615.95	FG_AHR_24Vo	0.000
SM_GC	1.45,7.47,0.17,0.00,0.027,0.063,0.000,106,2279,457,-8.12,-0.93,615.95,0,0,0,0,0,0,26.52,26.53,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2152.74,12108.59,191012,202020	MEM	323820
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	23431,624
HUMID	52.44	CAP_FILE_SIZE	131506,0
INTERNAL_PRESSURE	9.43396	CFSIZE	260165632,246808576
TCM_TEMP	27.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
XPDR_PINGS	7	CURRENT	0.137,219.7,1
ALTIM_BOTTOM_PING	552.2,8.0	GPS	201012,032106,2205.083,12107.710,32,0.8,32,-3.2
_24V_AH	24.1,13.559

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	225	112.04	nil	0	0	0.00
Roll_motor	50	75	92.31	nil	0	0	0.00
VBD_pump_during_apogee	645	1227	19089.56	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	10829	16	4293.62
Iridium_during_xfer	226	122	668.36	nil	0	0	0.00
Transponder_ping	2	420	25.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.59
TT8	1730	14	259.59
LPSleep	7041	2	157.29
TT8_Active	797	14	119.70
TT8_Sampling	1468	37	568.03
TT8_CF8	243	44	111.06
TT8_Kalman	0	0	0.00
Analog_circuits	1701	16	277.76
GPS_charging	0	0	0.00
Compass	1187	8	99.83
RAFOS	0	0	0.00
Transponder	7	30	2.23

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	91	0.00	0.00	-69.95	0.000	2	0.000	0.000	111	2323	2483	0	0	0	0	0	0	28.83	28.83	28.83
94	-0.47	-195.5	3.0	-5.5	12	143	9.60	1.25	-30.45	0.000	4	0.226	0.073	2581	3113	3767	0	0	0	0	0	0	25.79	26.22	26.55
177	-0.47	-195.5	14.3	-15.2	26	184	0.00	1.23	0.00	0.000	6	0.000	0.021	2581	2264	3768	0	0	0	0	0	0	28.83	26.35	28.83
502	-0.44	-195.5	72.9	-18.5	57	503	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2264	3768	0	0	0	0	0	0	28.83	28.83	28.83
804	-0.50	-195.5	104.3	-6.4	72	810	0.00	1.30	0.00	0.000	4	0.000	0.044	2581	3109	3769	0	0	0	0	0	0	28.83	26.51	28.83
964	-0.58	-195.5	115.8	-6.4	80	970	0.00	1.23	0.00	0.000	6	0.000	0.022	2581	2245	3769	0	0	0	0	0	0	28.83	26.65	28.83
1282	-0.67	-195.5	139.6	-7.1	96	1290	0.17	1.35	0.00	0.000	4	0.063	0.042	2476	3116	3770	0	0	0	0	0	0	26.71	26.59	28.83
1362	-0.67	-195.5	150.4	-13.6	100	1366	0.17	1.25	0.00	0.000	6	0.130	0.021	2528	2240	3770	0	0	0	0	0	0	26.44	26.70	28.83
1674	-0.72	-195.5	184.1	-8.2	116	1681	0.00	1.23	0.00	0.000	4	0.000	0.031	2528	1384	3770	0	0	0	0	0	0	28.83	26.69	28.83
1743	-0.77	-195.5	189.4	-8.7	119	1747	0.12	1.30	0.00	0.000	6	0.078	0.031	2446	2253	3770	0	0	0	0	0	0	26.65	26.67	28.83
2044	-0.74	-195.5	230.1	-12.3	134	2051	0.17	1.33	0.00	0.000	4	0.141	0.047	2493	3116	3769	0	0	0	0	0	0	26.49	26.63	28.83
2104	-0.74	-195.5	235.4	-9.6	137	2111	0.00	1.25	0.00	0.000	6	0.000	0.021	2493	2248	3773	0	0	0	0	0	0	28.83	26.75	28.83
2425	-0.78	-195.5	262.9	-9.5	153	2431	0.00	1.35	0.00	0.000	4	0.000	0.044	2493	3114	3768	0	0	0	0	0	0	28.83	26.65	28.83
2553	-0.81	-195.5	275.4	-10.5	159	2556	0.00	1.25	0.00	0.000	6	0.000	0.021	2493	2251	3767	0	0	0	0	0	0	28.83	26.76	28.83
2855	-0.85	-195.5	306.6	-10.8	174	2861	0.00	1.35	0.00	0.000	4	0.000	0.045	2493	3113	3766	0	0	0	0	0	0	28.83	26.64	28.83
2935	-0.89	-195.5	314.5	-10.0	178	2942	0.10	1.25	0.00	0.000	6	0.094	0.022	2422	2249	3765	0	0	0	0	0	0	26.70	26.77	28.83
3254	-0.86	-195.5	360.1	-14.6	194	3262	0.15	1.25	0.00	0.000	4	0.152	0.031	2464	1393	3763	0	0	0	0	0	0	26.52	26.70	28.83
3405	-0.88	-195.5	375.0	-9.5	201	3413	0.00	1.27	0.00	0.000	6	0.000	0.037	2463	2238	3762	0	0	0	0	0	0	28.83	26.68	28.83
3714	-0.90	-195.5	407.8	-10.8	217	3721	0.00	1.38	0.00	0.000	4	0.000	0.047	2464	3130	3760	0	0	0	0	0	0	28.83	26.66	28.83
3923	-0.92	-195.5	431.6	-12.0	227	3926	0.00	1.27	0.00	0.000	6	0.000	0.023	2464	2237	3758	0	0	0	0	0	0	28.83	26.77	28.83
4224	-0.95	-195.5	473.5	-13.4	242	4231	0.00	1.42	-0.08	0.000	4	0.000	0.071	2464	3123	3780	0	0	0	0	0	0	28.83	26.63	25.86
4284	-0.98	-195.5	481.4	-13.2	245	4291	0.12	1.25	0.00	0.000	6	0.082	0.023	2396	2265	3780	0	0	0	0	0	0	26.68	26.76	28.83
4604	-0.94	-195.5	534.2	-16.0	261	4606	0.15	0.00	0.00	0.000	6	0.153	0.000	2436	2264	3777	0	0	0	0	0	0	26.51	28.83	28.83
4744	end dive: BOTTOM_OBSTACLE_DETECTED
state	4744	begin apogee
4751	-0.20	0.0	552.2	-12.4	268	4913	0.68	0.00	158.00	0.898	6	0.108	0.000	2669	2104	2967	0	0	0	0	0	0	26.39	28.83	24.43
4916	end apogee: CONTROL_FINISHED_OK
state	4916	begin climb
4918	0.47	195.5	561.2	0.0	276	5084	0.57	0.00	161.57	0.855	6	0.043	0.000	2903	2103	2168	0	0	0	0	0	0	25.25	28.83	24.32
5385	0.43	198.4	525.9	9.9	299	5386	0.00	0.00	0.00	0.000	6	0.000	0.000	2903	2103	2147	0	0	0	0	0	0	28.83	28.83	28.83
5686	0.39	213.3	497.8	9.5	314	5712	0.12	1.48	13.00	0.857	4	0.145	0.042	2869	3030	2087	0	0	0	0	1	0	26.25	26.10	24.85
5944	0.37	220.2	473.5	9.8	327	5952	0.00	1.27	1.75	0.185	6	0.000	0.024	2869	2165	2068	0	0	0	0	0	0	28.83	26.38	26.04
6264	0.36	220.2	440.3	11.1	343	6270	0.00	1.35	0.00	0.000	4	0.000	0.041	2869	3031	2076	0	0	0	0	0	0	28.83	26.43	28.83
6466	0.34	220.2	418.9	10.5	353	6471	0.00	1.27	0.00	0.000	6	0.000	0.026	2869	2153	2076	0	0	0	0	0	0	28.83	26.56	28.83
6784	0.35	244.5	388.7	9.2	369	6815	0.00	1.42	22.60	1.029	4	0.000	0.042	2869	3037	1970	0	0	0	0	1	0	28.83	26.01	24.96
7043	0.36	253.8	364.7	9.7	381	7065	0.00	1.33	13.00	0.903	6	0.000	0.025	2869	2146	1931	0	0	0	0	1	0	28.83	26.34	24.79
7364	0.37	276.2	334.2	9.2	397	7391	0.00	0.00	20.25	0.977	6	0.000	0.000	2869	2144	1840	0	0	0	0	1	0	28.83	28.83	24.84
7685	0.40	319.9	305.6	8.5	413	7736	0.00	1.48	41.30	1.227	4	0.000	0.041	2869	3027	1661	0	0	0	0	1	0	28.83	25.25	24.28
7805	0.43	361.2	296.1	8.6	418	7854	0.00	1.35	38.50	1.168	6	0.000	0.024	2869	2138	1495	0	0	0	0	1	0	28.83	25.81	24.13
8154	0.48	388.6	264.7	9.1	436	8193	0.00	1.42	26.33	1.035	4	0.000	0.041	2869	3021	1383	0	0	0	0	1	0	28.83	25.53	24.52
8276	0.53	415.9	254.0	9.1	442	8314	0.10	1.27	26.42	1.021	6	0.045	0.024	2941	2143	1271	0	0	0	0	1	0	25.90	25.94	24.39
8614	0.52	415.9	214.3	10.4	459	8621	0.12	1.40	0.00	0.000	4	0.145	0.039	2907	3035	1274	0	0	0	0	0	0	26.08	26.16	28.83
8834	0.53	415.9	192.3	11.4	470	8837	0.00	1.30	0.00	0.000	6	0.000	0.034	2908	2155	1273	0	0	0	0	0	0	28.83	26.38	28.83
9145	0.57	415.9	159.2	10.7	486	9152	0.00	1.38	0.00	0.000	4	0.000	0.038	2908	3043	1272	0	0	0	0	0	0	28.83	26.44	28.83
9245	0.59	415.9	148.2	11.3	491	9252	0.00	1.30	0.00	0.000	6	0.000	0.022	2908	2148	1272	0	0	0	0	0	0	28.83	26.54	28.83
9565	0.69	514.7	120.2	6.6	507	9654	0.15	1.45	83.20	0.608	4	0.070	0.039	3000	3038	862	0	0	0	0	0	0	26.63	25.55	25.02
9675	0.67	514.7	108.3	13.1	512	9683	0.17	1.35	0.00	0.000	6	0.132	0.023	2952	2147	854	0	0	0	0	0	0	25.60	25.75	28.83
9986	0.77	567.4	79.9	8.2	528	10014	0.12	1.40	19.33	0.303	4	0.077	0.038	3036	3030	656	0	0	0	0	0	0	26.31	26.10	25.64
10126	0.77	567.4	58.9	16.5	535	10133	0.15	1.30	0.00	0.000	6	0.141	0.022	2990	2142	661	0	0	0	0	0	0	26.10	26.29	28.83
10435	0.85	605.0	34.1	8.7	561	10454	0.00	0.00	16.38	0.200	6	0.000	0.000	2990	2141	498	0	0	0	0	0	0	28.83	28.83	25.97
10757	0.97	673.5	8.9	7.6	613	10764	0.15	0.00	3.90	0.149	6	0.066	0.000	3095	2142	455	0	0	0	0	0	0	26.58	28.83	26.19
10799	end climb: SURFACE_DEPTH_REACHED
state	10799	begin surface coast
10818	end surface coast: CONTROL_FINISHED_OK
state	10818	begin surface