Glider dive log

OKMC 16May13 * SG181 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 181 HD_C 1.5e-05 ROLL_MAX 3785 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 11 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 30 ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 67 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 450 R_STBD_OVSHOOT 33 XPDR_VALID 2

D_BOOST 150 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 440 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2753 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -8 T_GPS_CHARGE -95709.844 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE 149

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 250 MINV_24V 12 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3941 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2700 FG_AHR_10V 0 SEABIRD_T_G 0.004364301

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062910328

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.4425184e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -160.75446 SEABIRD_T_J 2.6404416e-06

MASS 52184 PITCH_GAIN 20 PRESSURE_SLOPE 0.000109412 SEABIRD_C_G -9.9046793

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 1 SEABIRD_C_H 1.1251128

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0019873739

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00023203803

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0033 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0082 ROLL_MIN 209 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY 2 SEABIRD_T_J 2.6404416e-06

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3941 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 250 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.0033 PRESSURE_SLOPE 0.000109412 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0082 PRESSURE_YINT -160.75446 T_BOOST 5

CALL_WAIT 60 HD_C 1.5e-05 PROTOCOL 9 T_DIVE 330

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -95709.844

COMPASS2_DEVICE 149 ID 181 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 360

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_RSLEEP 3

C_PITCH 2700 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2375 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 2400 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2753 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3785 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52184 ROLL_MAXERRORS 2 USE_BATHY -8

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 209 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 R_PORT_OVSHOOT 67 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 33 VBD_DBAND 2

DEVICE4 -1 MISSION 11 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 440

DIVE 30 NOCOMM_ACTION 163 SEABIRD_C_G -9.9046793 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_H 1.1251128 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 150 N_FILEKB 8 SEABIRD_C_I -0.0019873739 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00023203803 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.004364301 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062910328 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_I 2.4425184e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 200513,081406,2148.917,12034.931,34,1.0,34,-2.7 TGT_NAME DOGLEG2

_CALLS 2 TGT_LATLONG 2148.000,12100.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200513,082318,2148.884,12034.932,10,1.0,15,-2.7 MHEAD_RNG_PITCHd_Wd 107.4,43138,-14.3,-10.000,-17.31,2952

SPEED_LIMITS 0.173,0.321 D_GRID 623

Post-dive calculations and measurements:

FINISH -0.1,1.021691 _10V_AH 13.7,0.000

SM_CCo 7705,49.12,0.151,0,0,916,450.13 FG_AHR_24Vo 0.000

SM_GC -0.05,7.93,0.00,49.12,0.084,0.000,0.151,222,2378,916,-7.62,-0.62,450.13,0,0,0,0,0,0,14.90,28.83,14.76 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12035.12,200513,080832 MEM 323208

TT8_MAMPS 0.019474,0.019474 DATA_FILE_SIZE 16776,443

HUMID 47.04 CAP_FILE_SIZE 99072,0

INTERNAL_PRESSURE 9.63904 CFSIZE 260034560,253349888

TCM_TEMP 22.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 19 CURRENT 0.074,306.2,1

SC_FREEKB 3926592 GPS 200513,103412,2148.667,12035.786,11,1.4,27,-2.7

_24V_AH 13.7,30.941

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 420 118.46 nil 0 0 0.00

Roll_motor 66 100 91.54 nil 0 0 0.00

VBD_pump_during_apogee 416 1373 7842.93 nil 0 0 0.00

VBD_pump_during_surface 49 150 101.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 112 94.69 nil 0 0 0.00

Iridium_during_connect 92 160 202.36 SciCon 7713 6 700.58

Iridium_during_xfer 177 223 543.41 nil 0 0 0.00

Transponder_ping 4 420 27.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 20 5.21

TT8 1318 10 197.95

LPSleep 4968 2 149.07

TT8_Active 534 10 80.18

TT8_Sampling 1419 28 562.86

TT8_CF8 83 35 41.02

TT8_Kalman 0 0 0.00

Analog_circuits 1120 16 245.57

GPS_charging 0 0 0.00

Compass 974 6 89.98

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

18 -0.91 -194.6 210 2410 921 908 0.0 0.0 0 109 0.00 0.00 -88.18 0.000 16386 0.000 0.000 209 2411 3176 3225 3127 0 0 0 0 0 0 28.83 28.83 28.83

111 -0.91 -194.6 209 2411 3225 3128 4.2 -16.3 15 137 10.32 2.30 -5.88 0.000 18692 0.421 0.100 2389 3775 3550 3633 3468 0 0 0 0 0 0 14.49 14.72 14.94

318 -0.91 -194.6 2389 3775 3633 3470 89.5 -34.5 32 325 0.00 2.10 0.00 0.000 1030 0.000 0.037 2390 2404 3551 3633 3470 0 0 0 0 0 0 28.83 14.85 28.83

625 -0.91 -194.6 2389 2398 3637 3470 166.5 -22.4 48 630 0.00 2.17 0.00 0.000 516 0.000 0.043 2388 994 3553 3637 3470 0 0 0 0 0 0 28.83 14.88 28.83

670 -0.91 -194.6 2388 994 3637 3470 176.8 -24.8 50 676 0.00 2.28 0.00 0.000 1030 0.000 0.058 2379 2407 3553 3637 3470 0 0 0 0 0 0 28.83 14.88 28.83

988 -0.91 -194.6 2378 2407 3637 3470 250.5 -21.2 66 994 0.00 2.20 0.00 0.000 516 0.000 0.045 2379 996 3553 3637 3470 0 0 0 0 0 0 28.83 14.94 28.83

1014 -0.91 -194.6 1536 994 3633 3467 255.4 -21.8 67 1020 0.15 2.25 0.00 0.000 3078 0.279 0.059 2403 2396 3553 3637 3470 0 0 0 0 0 0 14.78 14.90 28.83

1332 -0.91 -194.6 2403 2396 3637 3469 311.0 -16.6 83 1339 0.00 2.25 0.00 0.000 260 0.000 0.083 2395 3780 3551 3637 3466 0 0 0 0 0 0 28.83 14.92 28.83

1404 -0.91 -194.6 2394 3780 3644 3469 322.3 -17.9 86 1410 0.00 2.10 0.00 0.000 1030 0.000 0.037 2394 2383 3553 3637 3469 0 0 0 0 0 0 28.83 14.97 28.83

1716 -0.91 -194.6 2395 2377 3637 3466 376.6 -16.7 102 1718 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2377 3551 3636 3466 0 0 0 0 0 0 28.83 28.83 28.83

2017 -0.91 -194.6 2394 2378 3637 3462 425.5 -16.4 117 2018 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2377 3549 3637 3462 0 0 0 0 0 0 28.83 28.83 28.83

2318 -0.91 -194.6 2395 2377 3637 3457 480.6 -18.3 132 2323 0.00 2.30 0.00 0.000 260 0.000 0.089 2384 3778 3547 3637 3457 0 0 0 0 0 0 28.83 14.97 28.83

2369 -0.91 -194.6 2384 3780 3636 3457 489.0 -18.8 134 2374 0.00 2.08 0.00 0.000 1030 0.000 0.039 2384 2404 3547 3637 3457 0 0 0 0 0 0 28.83 15.04 28.83

2681 -0.91 -194.6 2384 2403 3637 3453 545.1 -17.3 150 2682 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2398 3544 3637 3452 0 0 0 0 0 0 28.83 28.83 28.83

2982 -0.91 -194.6 2384 2398 3634 3450 597.7 -16.4 165 2987 0.00 2.17 0.00 0.000 516 0.000 0.051 2384 1004 3541 3634 3449 0 0 0 0 0 0 28.83 15.01 28.83

3038 -0.91 -194.6 2384 1004 3634 3449 603.0 -16.4 167 3045 0.12 2.25 0.00 0.000 3078 0.277 0.060 2402 2405 3541 3633 3449 0 0 0 0 0 0 14.87 14.99 28.83

3163 end dive: TARGET_DEPTH_EXCEEDED

state 3163 begin apogee

3166 -0.25 0.0 2402 2405 3633 3447 625.4 -14.7 172 3346 0.73 0.00 173.70 1.373 10246 0.231 0.000 2615 2406 2753 2784 2722 0 0 0 0 0 0 14.85 28.83 13.78

3348 end apogee: CONTROL_FINISHED_OK

state 3348 begin climb

3349 0.91 194.6 2615 2406 2784 2720 630.2 0.0 178 3533 1.15 0.00 178.23 1.341 10758 0.132 0.000 2983 2405 1957 1988 1926 0 0 0 0 0 0 14.26 28.83 13.70

3825 0.91 194.6 2985 2405 1987 1901 557.6 16.1 198 3830 0.00 2.30 0.00 0.000 516 0.000 0.053 2995 987 1944 1987 1901 0 0 0 0 0 0 28.83 14.71 28.83

3861 0.91 194.6 2996 987 1988 1900 553.9 16.0 199 3868 0.00 2.28 0.00 0.000 1030 0.000 0.059 2995 2378 1943 1987 1900 0 0 0 0 0 0 28.83 14.73 28.83

4167 0.91 194.6 2995 2378 1987 1896 500.6 16.9 215 4168 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2378 1941 1987 1896 0 0 0 0 0 0 28.83 28.83 28.83

4467 0.91 194.6 2995 2378 1987 1894 445.5 18.3 230 4472 0.00 2.33 0.00 0.000 260 0.000 0.090 2995 3783 1940 1987 1894 0 0 0 0 0 0 28.83 14.86 28.83

4519 0.91 194.6 2995 3778 1987 1894 437.2 19.4 232 4524 0.00 2.15 0.00 0.000 1030 0.000 0.041 3005 2375 1940 1986 1894 0 0 0 0 0 0 28.83 14.93 28.83

4831 0.91 194.6 3006 2371 1987 1892 377.8 17.8 248 4832 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2371 1939 1987 1892 0 0 0 0 0 0 28.83 28.83 28.83

5132 0.91 194.6 3006 2370 1987 1890 325.3 17.8 263 5137 0.00 2.20 0.00 0.000 516 0.000 0.052 3016 981 1938 1987 1890 0 0 0 0 0 0 28.83 14.95 28.83

5223 0.91 194.6 3016 980 1989 1890 311.4 16.8 267 5228 0.00 2.25 0.00 0.000 1030 0.000 0.062 3016 2376 1938 1987 1890 0 0 0 0 0 0 28.83 14.93 28.83

5535 0.91 194.6 3017 2376 1988 1888 262.4 14.4 283 5541 0.00 2.33 0.00 0.000 260 0.000 0.091 3016 3781 1937 1987 1888 0 0 0 0 0 0 28.83 14.91 28.83

5638 0.91 194.6 3015 3781 1987 1889 244.5 17.7 288 5645 0.15 2.15 0.00 0.000 5126 0.295 0.040 2994 2376 1938 1987 1889 0 0 0 0 0 0 14.80 14.98 28.83

5962 0.91 194.6 2994 2371 1988 1886 196.5 13.8 304 5967 0.00 2.20 0.00 0.000 516 0.000 0.054 3001 981 1937 1987 1887 0 0 0 0 0 0 28.83 14.97 28.83

6004 0.91 194.6 3002 981 1987 1886 190.9 13.4 306 6009 0.00 2.25 0.00 0.000 1030 0.000 0.057 3002 2384 1937 1987 1887 0 0 0 0 0 0 28.83 14.94 28.83

6326 0.91 194.6 3002 2384 1987 1886 144.5 14.0 322 6331 0.00 2.30 0.00 0.000 260 0.000 0.089 3001 3778 1936 1987 1885 0 0 0 0 0 0 28.83 14.92 28.83

6383 0.91 194.6 3002 3778 1987 1886 138.0 14.7 324 6389 0.00 2.15 0.00 0.000 1030 0.000 0.041 3012 2372 1936 1987 1886 0 0 0 0 0 0 28.83 14.96 28.83

6689 0.91 194.6 3012 2367 1987 1885 97.6 11.7 340 6694 0.00 2.20 0.00 0.000 516 0.000 0.053 3022 977 1936 1987 1885 0 0 0 0 0 0 28.83 14.94 28.83

6745 0.91 194.6 3022 977 1987 1886 92.3 11.9 342 6752 0.00 2.25 0.00 0.000 1030 0.000 0.057 3022 2380 1936 1987 1885 0 0 0 0 0 0 28.83 14.95 28.83

7051 0.97 250.8 3022 2380 1987 1885 60.5 8.0 358 7080 0.00 2.30 24.52 0.326 8452 0.000 0.085 3024 3781 1730 1769 1691 0 0 0 0 0 0 28.83 14.85 14.68

7142 0.97 250.8 3022 3781 1770 1696 52.3 10.0 362 7148 0.00 2.17 0.00 0.000 1030 0.000 0.039 3033 2365 1732 1770 1695 0 0 0 0 0 0 28.83 14.94 28.83

7450 0.97 250.8 3033 2361 1770 1694 18.6 10.3 398 7457 0.00 2.17 0.00 0.000 516 0.000 0.049 3043 974 1732 1770 1695 0 0 0 0 0 0 28.83 14.92 28.83

7585 1.05 338.9 3043 974 1770 1693 8.8 6.9 424 7633 0.00 2.25 40.45 0.171 9222 0.000 0.054 3043 2378 1367 1404 1330 0 0 0 0 0 0 28.83 14.90 14.76

7659 end climb: SURFACE_DEPTH_REACHED

state 7659 begin surface coast

7690 end surface coast: CONTROL_FINISHED_OK

state 7690 begin surface

ID	181	HD_C	1.5e-05	ROLL_MAX	3785	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	11	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	30	ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	67	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	450	R_STBD_OVSHOOT	33	XPDR_VALID	2
D_BOOST	150	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	440	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2753	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-8	T_GPS_CHARGE	-95709.844	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	149
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	250	MINV_24V	12	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3941	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2700	FG_AHR_10V	0	SEABIRD_T_G	0.004364301
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062910328
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.4425184e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-160.75446	SEABIRD_T_J	2.6404416e-06
MASS	52184	PITCH_GAIN	20	PRESSURE_SLOPE	0.000109412	SEABIRD_C_G	-9.9046793
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	1	SEABIRD_C_H	1.1251128
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0019873739
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00023203803
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0033	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0082	ROLL_MIN	209	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	200513,081406,2148.917,12034.931,34,1.0,34,-2.7	TGT_NAME	DOGLEG2
_CALLS	2	TGT_LATLONG	2148.000,12100.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200513,082318,2148.884,12034.932,10,1.0,15,-2.7	MHEAD_RNG_PITCHd_Wd	107.4,43138,-14.3,-10.000,-17.31,2952
SPEED_LIMITS	0.173,0.321	D_GRID	623

FINISH	-0.1,1.021691	_10V_AH	13.7,0.000
SM_CCo	7705,49.12,0.151,0,0,916,450.13	FG_AHR_24Vo	0.000
SM_GC	-0.05,7.93,0.00,49.12,0.084,0.000,0.151,222,2378,916,-7.62,-0.62,450.13,0,0,0,0,0,0,14.90,28.83,14.76	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12035.12,200513,080832	MEM	323208
TT8_MAMPS	0.019474,0.019474	DATA_FILE_SIZE	16776,443
HUMID	47.04	CAP_FILE_SIZE	99072,0
INTERNAL_PRESSURE	9.63904	CFSIZE	260034560,253349888
TCM_TEMP	22.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	19	CURRENT	0.074,306.2,1
SC_FREEKB	3926592	GPS	200513,103412,2148.667,12035.786,11,1.4,27,-2.7
_24V_AH	13.7,30.941

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	420	118.46	nil	0	0	0.00
Roll_motor	66	100	91.54	nil	0	0	0.00
VBD_pump_during_apogee	416	1373	7842.93	nil	0	0	0.00
VBD_pump_during_surface	49	150	101.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	112	94.69	nil	0	0	0.00
Iridium_during_connect	92	160	202.36	SciCon	7713	6	700.58
Iridium_during_xfer	177	223	543.41	nil	0	0	0.00
Transponder_ping	4	420	27.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	20	5.21
TT8	1318	10	197.95
LPSleep	4968	2	149.07
TT8_Active	534	10	80.18
TT8_Sampling	1419	28	562.86
TT8_CF8	83	35	41.02
TT8_Kalman	0	0	0.00
Analog_circuits	1120	16	245.57
GPS_charging	0	0	0.00
Compass	974	6	89.98
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
18	-0.91	-194.6	210	2410	921	908	0.0	0.0	0	109	0.00	0.00	-88.18	0.000	16386	0.000	0.000	209	2411	3176	3225	3127	0	0	0	0	0	0	28.83	28.83	28.83
111	-0.91	-194.6	209	2411	3225	3128	4.2	-16.3	15	137	10.32	2.30	-5.88	0.000	18692	0.421	0.100	2389	3775	3550	3633	3468	0	0	0	0	0	0	14.49	14.72	14.94
318	-0.91	-194.6	2389	3775	3633	3470	89.5	-34.5	32	325	0.00	2.10	0.00	0.000	1030	0.000	0.037	2390	2404	3551	3633	3470	0	0	0	0	0	0	28.83	14.85	28.83
625	-0.91	-194.6	2389	2398	3637	3470	166.5	-22.4	48	630	0.00	2.17	0.00	0.000	516	0.000	0.043	2388	994	3553	3637	3470	0	0	0	0	0	0	28.83	14.88	28.83
670	-0.91	-194.6	2388	994	3637	3470	176.8	-24.8	50	676	0.00	2.28	0.00	0.000	1030	0.000	0.058	2379	2407	3553	3637	3470	0	0	0	0	0	0	28.83	14.88	28.83
988	-0.91	-194.6	2378	2407	3637	3470	250.5	-21.2	66	994	0.00	2.20	0.00	0.000	516	0.000	0.045	2379	996	3553	3637	3470	0	0	0	0	0	0	28.83	14.94	28.83
1014	-0.91	-194.6	1536	994	3633	3467	255.4	-21.8	67	1020	0.15	2.25	0.00	0.000	3078	0.279	0.059	2403	2396	3553	3637	3470	0	0	0	0	0	0	14.78	14.90	28.83
1332	-0.91	-194.6	2403	2396	3637	3469	311.0	-16.6	83	1339	0.00	2.25	0.00	0.000	260	0.000	0.083	2395	3780	3551	3637	3466	0	0	0	0	0	0	28.83	14.92	28.83
1404	-0.91	-194.6	2394	3780	3644	3469	322.3	-17.9	86	1410	0.00	2.10	0.00	0.000	1030	0.000	0.037	2394	2383	3553	3637	3469	0	0	0	0	0	0	28.83	14.97	28.83
1716	-0.91	-194.6	2395	2377	3637	3466	376.6	-16.7	102	1718	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2377	3551	3636	3466	0	0	0	0	0	0	28.83	28.83	28.83
2017	-0.91	-194.6	2394	2378	3637	3462	425.5	-16.4	117	2018	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2377	3549	3637	3462	0	0	0	0	0	0	28.83	28.83	28.83
2318	-0.91	-194.6	2395	2377	3637	3457	480.6	-18.3	132	2323	0.00	2.30	0.00	0.000	260	0.000	0.089	2384	3778	3547	3637	3457	0	0	0	0	0	0	28.83	14.97	28.83
2369	-0.91	-194.6	2384	3780	3636	3457	489.0	-18.8	134	2374	0.00	2.08	0.00	0.000	1030	0.000	0.039	2384	2404	3547	3637	3457	0	0	0	0	0	0	28.83	15.04	28.83
2681	-0.91	-194.6	2384	2403	3637	3453	545.1	-17.3	150	2682	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2398	3544	3637	3452	0	0	0	0	0	0	28.83	28.83	28.83
2982	-0.91	-194.6	2384	2398	3634	3450	597.7	-16.4	165	2987	0.00	2.17	0.00	0.000	516	0.000	0.051	2384	1004	3541	3634	3449	0	0	0	0	0	0	28.83	15.01	28.83
3038	-0.91	-194.6	2384	1004	3634	3449	603.0	-16.4	167	3045	0.12	2.25	0.00	0.000	3078	0.277	0.060	2402	2405	3541	3633	3449	0	0	0	0	0	0	14.87	14.99	28.83
3163	end dive: TARGET_DEPTH_EXCEEDED
state	3163	begin apogee
3166	-0.25	0.0	2402	2405	3633	3447	625.4	-14.7	172	3346	0.73	0.00	173.70	1.373	10246	0.231	0.000	2615	2406	2753	2784	2722	0	0	0	0	0	0	14.85	28.83	13.78
3348	end apogee: CONTROL_FINISHED_OK
state	3348	begin climb
3349	0.91	194.6	2615	2406	2784	2720	630.2	0.0	178	3533	1.15	0.00	178.23	1.341	10758	0.132	0.000	2983	2405	1957	1988	1926	0	0	0	0	0	0	14.26	28.83	13.70
3825	0.91	194.6	2985	2405	1987	1901	557.6	16.1	198	3830	0.00	2.30	0.00	0.000	516	0.000	0.053	2995	987	1944	1987	1901	0	0	0	0	0	0	28.83	14.71	28.83
3861	0.91	194.6	2996	987	1988	1900	553.9	16.0	199	3868	0.00	2.28	0.00	0.000	1030	0.000	0.059	2995	2378	1943	1987	1900	0	0	0	0	0	0	28.83	14.73	28.83
4167	0.91	194.6	2995	2378	1987	1896	500.6	16.9	215	4168	0.00	0.00	0.00	0.000	6	0.000	0.000	2995	2378	1941	1987	1896	0	0	0	0	0	0	28.83	28.83	28.83
4467	0.91	194.6	2995	2378	1987	1894	445.5	18.3	230	4472	0.00	2.33	0.00	0.000	260	0.000	0.090	2995	3783	1940	1987	1894	0	0	0	0	0	0	28.83	14.86	28.83
4519	0.91	194.6	2995	3778	1987	1894	437.2	19.4	232	4524	0.00	2.15	0.00	0.000	1030	0.000	0.041	3005	2375	1940	1986	1894	0	0	0	0	0	0	28.83	14.93	28.83
4831	0.91	194.6	3006	2371	1987	1892	377.8	17.8	248	4832	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2371	1939	1987	1892	0	0	0	0	0	0	28.83	28.83	28.83
5132	0.91	194.6	3006	2370	1987	1890	325.3	17.8	263	5137	0.00	2.20	0.00	0.000	516	0.000	0.052	3016	981	1938	1987	1890	0	0	0	0	0	0	28.83	14.95	28.83
5223	0.91	194.6	3016	980	1989	1890	311.4	16.8	267	5228	0.00	2.25	0.00	0.000	1030	0.000	0.062	3016	2376	1938	1987	1890	0	0	0	0	0	0	28.83	14.93	28.83
5535	0.91	194.6	3017	2376	1988	1888	262.4	14.4	283	5541	0.00	2.33	0.00	0.000	260	0.000	0.091	3016	3781	1937	1987	1888	0	0	0	0	0	0	28.83	14.91	28.83
5638	0.91	194.6	3015	3781	1987	1889	244.5	17.7	288	5645	0.15	2.15	0.00	0.000	5126	0.295	0.040	2994	2376	1938	1987	1889	0	0	0	0	0	0	14.80	14.98	28.83
5962	0.91	194.6	2994	2371	1988	1886	196.5	13.8	304	5967	0.00	2.20	0.00	0.000	516	0.000	0.054	3001	981	1937	1987	1887	0	0	0	0	0	0	28.83	14.97	28.83
6004	0.91	194.6	3002	981	1987	1886	190.9	13.4	306	6009	0.00	2.25	0.00	0.000	1030	0.000	0.057	3002	2384	1937	1987	1887	0	0	0	0	0	0	28.83	14.94	28.83
6326	0.91	194.6	3002	2384	1987	1886	144.5	14.0	322	6331	0.00	2.30	0.00	0.000	260	0.000	0.089	3001	3778	1936	1987	1885	0	0	0	0	0	0	28.83	14.92	28.83
6383	0.91	194.6	3002	3778	1987	1886	138.0	14.7	324	6389	0.00	2.15	0.00	0.000	1030	0.000	0.041	3012	2372	1936	1987	1886	0	0	0	0	0	0	28.83	14.96	28.83
6689	0.91	194.6	3012	2367	1987	1885	97.6	11.7	340	6694	0.00	2.20	0.00	0.000	516	0.000	0.053	3022	977	1936	1987	1885	0	0	0	0	0	0	28.83	14.94	28.83
6745	0.91	194.6	3022	977	1987	1886	92.3	11.9	342	6752	0.00	2.25	0.00	0.000	1030	0.000	0.057	3022	2380	1936	1987	1885	0	0	0	0	0	0	28.83	14.95	28.83
7051	0.97	250.8	3022	2380	1987	1885	60.5	8.0	358	7080	0.00	2.30	24.52	0.326	8452	0.000	0.085	3024	3781	1730	1769	1691	0	0	0	0	0	0	28.83	14.85	14.68
7142	0.97	250.8	3022	3781	1770	1696	52.3	10.0	362	7148	0.00	2.17	0.00	0.000	1030	0.000	0.039	3033	2365	1732	1770	1695	0	0	0	0	0	0	28.83	14.94	28.83
7450	0.97	250.8	3033	2361	1770	1694	18.6	10.3	398	7457	0.00	2.17	0.00	0.000	516	0.000	0.049	3043	974	1732	1770	1695	0	0	0	0	0	0	28.83	14.92	28.83
7585	1.05	338.9	3043	974	1770	1693	8.8	6.9	424	7633	0.00	2.25	40.45	0.171	9222	0.000	0.054	3043	2378	1367	1404	1330	0	0	0	0	0	0	28.83	14.90	14.76
7659	end climb: SURFACE_DEPTH_REACHED
state	7659	begin surface coast
7690	end surface coast: CONTROL_FINISHED_OK
state	7690	begin surface