Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 306 * 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 306 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 54 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 35 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 -20903.795 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 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 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 -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 -20903.795

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 54 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 35 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 1

DIVE 306 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 070413,192336,2325.062,12139.438,38,0.9,39,-3.1 TGT_NAME INSHORE1

_CALLS 1 TGT_LATLONG 2321.000,12139.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070413,192955,2325.173,12139.479,16,1.2,16,-3.1 MHEAD_RNG_PITCHd_Wd 188.9,7771,-14.1,-8.333,-18.40,2833

SPEED_LIMITS 0.144,0.302 D_GRID 1639

Post-dive calculations and measurements:

FINISH 0.2,1.022849 _10V_AH 10.2,29.374

SM_CCo 10124,74.90,0.060,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 0.99,8.30,1.38,74.90,0.035,0.029,0.060,137,2496,748,-8.29,1.81,400.08,0,0,0,0,0,0,26.27,26.32,26.03 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2319.18,12109.51,070413,161653 MEM 323716

TT8_MAMPS 0.047936,0.047936 DATA_FILE_SIZE 16768,483

HUMID 47.20 CAP_FILE_SIZE 258001,0

INTERNAL_PRESSURE 9.59367 CFSIZE 260034560,223600640

TCM_TEMP 22.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.077, 58.4,1

SC_FREEKB 3922720 GPS 070413,222159,2323.837,12139.823,38,1.3,38,-3.1

_24V_AH 23.7,45.678

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 216 105.06 nil 0 0 0.00

Roll_motor 78 54 100.54 nil 0 0 0.00

VBD_pump_during_apogee 601 889 12686.25 nil 0 0 0.00

VBD_pump_during_surface 74 59 105.92 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 10099 4 987.54

Iridium_during_xfer 215 125 640.32 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 27 4.82

TT8 2021 35 740.86

LPSleep 6008 2 134.22

TT8_Active 708 35 259.71

TT8_Sampling 1493 58 889.60

TT8_CF8 361 65 242.70

TT8_Kalman 0 0 0.00

Analog_circuits 1674 15 256.17

GPS_charging 0 0 0.00

Compass 1212 5 74.08

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.11 -155.6 112 2494 846 658 0.0 0.0 0 82 0.00 0.00 -60.12 0.000 16386 0.000 0.000 112 2494 2461 2530 2393 0 0 0 0 0 0 28.83 28.83 28.83

85 -1.27 -201.4 112 2494 2533 2394 3.7 -6.7 8 117 8.95 2.15 -12.52 0.000 18948 0.216 0.043 2400 1096 3208 3284 3132 0 0 0 0 0 0 25.55 26.17 26.53

214 -1.27 -201.4 2399 1096 3286 3132 50.9 -29.3 23 220 0.00 2.15 0.00 0.000 1030 0.000 0.036 2391 2499 3209 3286 3132 0 0 0 0 0 0 28.83 26.13 28.83

529 -1.27 -201.4 2390 2499 3294 3132 138.9 -27.8 39 535 0.00 1.85 0.00 0.000 260 0.000 0.053 2381 3670 3213 3294 3132 0 0 0 0 0 0 28.83 26.20 28.83

690 -1.27 -201.4 2381 3670 3296 3133 180.3 -27.4 46 697 0.12 1.70 0.00 0.000 3078 0.156 0.024 2414 2483 3214 3296 3132 0 0 0 0 0 0 26.11 26.46 28.83

1007 -1.27 -201.4 2413 2482 3298 3129 258.0 -23.3 62 1014 0.00 2.03 0.00 0.000 516 0.000 0.029 2414 1105 3215 3297 3133 0 0 0 0 0 0 28.83 26.43 28.83

1036 -1.27 -201.4 2413 1105 3300 3133 264.3 -23.2 63 1042 0.00 2.12 0.00 0.000 1030 0.000 0.037 2404 2501 3214 3297 3132 0 0 0 0 0 0 28.83 26.34 28.83

1357 -1.27 -201.4 2403 2501 3298 3132 341.4 -24.6 79 1363 0.00 2.08 0.00 0.000 516 0.000 0.028 2404 1105 3213 3295 3132 0 0 0 0 0 0 28.83 26.45 28.83

1392 -1.27 -201.4 2403 1105 3297 3133 347.9 -24.9 80 1397 0.00 2.12 0.00 0.000 1030 0.000 0.037 2393 2504 3215 3298 3132 0 0 0 0 0 0 28.83 26.36 28.83

1706 -1.27 -201.4 2389 2504 3297 3133 426.0 -23.6 96 1707 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2504 3214 3297 3132 0 0 0 0 0 0 28.83 28.83 28.83

2007 -1.27 -201.4 2392 2504 3297 3132 492.9 -21.9 111 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2504 3214 3297 3132 0 0 0 0 0 0 28.83 28.83 28.83

2306 -1.27 -201.4 2392 2504 3297 3132 555.9 -20.5 126 2312 0.00 1.83 0.00 0.000 260 0.000 0.053 2387 3674 3214 3297 3132 0 0 0 0 0 0 28.83 26.33 28.83

2357 -1.27 -201.4 2384 3674 3297 3132 565.3 -20.6 128 2363 0.00 1.67 0.00 0.000 1030 0.000 0.025 2384 2495 3214 3297 3132 0 0 0 0 0 0 28.83 26.61 28.83

2686 -1.27 -201.4 2384 2494 3297 3128 633.7 -20.6 142 2692 0.00 2.03 0.00 0.000 516 0.000 0.028 2384 1115 3212 3297 3128 0 0 0 0 0 0 28.83 26.49 28.83

2733 -1.27 -201.4 2384 1116 3298 3127 640.8 -20.7 143 2740 0.15 2.12 0.00 0.000 3078 0.156 0.038 2413 2505 3212 3297 3127 0 0 0 0 0 0 26.10 26.38 28.83

3058 -1.27 -201.4 2413 2505 3297 3124 702.0 -18.0 154 3064 0.00 1.83 0.00 0.000 260 0.000 0.054 2405 3671 3210 3297 3124 0 0 0 0 0 0 28.83 26.32 28.83

3097 -1.27 -201.4 2405 3671 3297 3124 708.5 -18.4 155 3103 0.00 1.73 0.00 0.000 1030 0.000 0.027 2405 2508 3210 3297 3123 0 0 0 0 0 0 28.83 26.60 28.83

3428 -1.27 -201.4 2405 2508 3294 3118 774.8 -19.9 166 3434 0.00 2.08 0.00 0.000 516 0.000 0.029 2405 1106 3207 3297 3118 0 0 0 0 0 0 28.83 26.47 28.83

3487 -1.27 -201.4 2405 1105 3297 3117 782.3 -20.3 167 3495 0.00 2.15 0.00 0.000 1030 0.000 0.038 2395 2510 3207 3297 3117 0 0 0 0 0 0 28.83 26.36 28.83

3794 -1.27 -201.4 2394 2509 3294 3114 847.4 -18.9 178 3800 0.00 1.83 0.00 0.000 260 0.000 0.054 2386 3672 3204 3294 3114 0 0 0 0 0 0 28.83 26.29 28.83

3849 -1.27 -201.4 2386 3672 3294 3114 854.5 -19.3 179 3855 0.00 1.70 0.00 0.000 1030 0.000 0.028 2386 2498 3204 3294 3114 0 0 0 0 0 0 28.83 26.59 28.83

4165 -1.27 -201.4 2386 2496 3292 3111 920.5 -20.2 190 4167 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2496 3201 3292 3111 0 0 0 0 0 0 28.83 28.83 28.83

4314 end dive: TARGET_DEPTH_EXCEEDED

state 4314 begin apogee

4320 -0.20 0.0 2386 1997 3290 3108 950.1 -19.6 195 4652 1.12 0.00 323.00 0.759 10246 0.121 0.000 2752 1995 2378 2540 2217 0 0 0 0 0 0 25.88 28.83 24.22

4654 end apogee: CONTROL_FINISHED_OK

state 4654 begin climb

4658 1.27 201.4 2752 1995 2531 2206 971.3 0.0 205 4891 1.30 0.00 226.55 0.890 10758 0.044 0.000 3238 1994 1557 1655 1460 0 0 0 0 0 0 25.07 28.83 23.70

5184 1.27 201.4 3238 1994 1616 1421 884.0 22.5 224 5190 0.00 2.28 0.00 0.000 260 0.000 0.047 3238 3414 1518 1616 1420 0 0 0 0 0 0 28.83 25.86 28.83

5319 1.27 201.4 3238 3414 1620 1420 854.0 23.6 228 5326 0.00 2.12 0.00 0.000 1030 0.000 0.028 3250 2006 1516 1615 1418 0 0 0 0 0 0 28.83 26.13 28.83

5645 1.27 201.4 3250 2005 1614 1418 779.9 22.3 239 5646 0.00 0.00 0.00 0.000 6 0.000 0.000 3250 2005 1516 1614 1418 0 0 0 0 0 0 28.83 28.83 28.83

5945 1.27 201.4 3250 2005 1612 1418 710.2 24.3 249 5951 0.00 2.22 0.00 0.000 260 0.000 0.046 3250 3418 1514 1612 1417 0 0 0 0 0 0 28.83 26.27 28.83

6004 1.27 201.4 3250 3418 1612 1417 701.3 24.7 250 6013 0.12 2.12 0.00 0.000 5126 0.183 0.029 3231 1991 1514 1612 1417 0 0 0 0 0 0 26.03 26.39 28.83

6313 1.27 201.4 3231 1991 1611 1416 626.0 21.2 261 6318 0.00 2.25 0.00 0.000 260 0.000 0.046 3232 3421 1513 1611 1416 0 0 0 0 0 0 28.83 26.31 28.83

6367 1.27 201.4 3231 3421 1611 1416 618.0 21.0 262 6373 0.00 2.12 0.00 0.000 1030 0.000 0.029 3243 1995 1513 1611 1416 0 0 0 0 0 0 28.83 26.44 28.83

6682 1.27 201.4 3242 1994 1611 1415 549.9 19.3 277 6683 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 1994 1512 1611 1414 0 0 0 0 0 0 28.83 28.83 28.83

6982 1.27 201.4 3242 1994 1610 1413 492.2 20.1 292 6988 0.00 2.22 0.00 0.000 260 0.000 0.046 3242 3415 1511 1610 1413 0 0 0 0 0 0 28.83 26.34 28.83

7016 1.27 201.4 3242 3415 1610 1413 487.0 20.3 293 7022 0.00 2.12 0.00 0.000 1030 0.000 0.029 3254 1992 1511 1609 1413 0 0 0 0 0 0 28.83 26.47 28.83

7331 1.27 201.4 3254 1992 1609 1411 420.0 19.1 309 7337 0.00 2.22 0.00 0.000 260 0.000 0.046 3255 3414 1510 1609 1411 0 0 0 0 0 0 28.83 26.34 28.83

7442 1.27 201.4 2304 3414 1577 1407 397.9 20.7 314 7449 0.15 2.10 0.00 0.000 5126 0.173 0.030 3227 1996 1512 1609 1415 0 0 0 0 0 0 26.04 26.47 28.83

7764 1.27 201.4 3227 1998 1608 1410 340.7 17.4 330 7770 0.00 2.12 0.00 0.000 516 0.000 0.041 3238 610 1509 1608 1410 0 0 0 0 0 0 28.83 26.36 28.83

7858 1.27 201.4 3237 610 1608 1410 324.8 17.5 334 7864 0.00 2.10 0.00 0.000 1030 0.000 0.031 3238 2019 1508 1607 1410 0 0 0 0 0 0 28.83 26.44 28.83

8180 1.27 201.4 3237 2019 1608 1409 267.8 17.2 350 8186 0.00 2.15 0.00 0.000 260 0.000 0.046 3238 3400 1509 1608 1410 0 0 0 0 0 0 28.83 26.33 28.83

8256 1.27 201.4 3238 3400 1608 1410 255.5 17.5 353 8262 0.00 2.08 0.00 0.000 1030 0.000 0.029 3249 1998 1509 1608 1410 0 0 0 0 0 0 28.83 26.48 28.83

8571 1.27 201.4 3249 1998 1608 1410 194.9 19.2 369 8572 0.00 0.00 0.00 0.000 6 0.000 0.000 3250 1998 1509 1608 1410 0 0 0 0 0 0 28.83 28.83 28.83

8871 1.27 201.4 3249 1997 1604 1410 142.6 17.5 384 8877 0.00 2.20 0.00 0.000 260 0.000 0.046 3250 3400 1509 1608 1410 0 0 0 0 0 0 28.83 26.32 28.83

9048 1.27 201.4 3249 3400 1608 1410 112.5 18.3 392 9055 0.12 2.08 0.00 0.000 5126 0.171 0.028 3229 1991 1509 1608 1410 0 0 0 0 0 0 26.13 26.50 28.83

9366 1.27 201.4 3229 1991 1608 1410 68.6 12.9 408 9372 0.00 2.10 0.00 0.000 516 0.000 0.039 3240 613 1510 1608 1412 0 0 0 0 0 0 28.83 26.36 28.83

9610 1.34 221.4 3239 613 1612 1409 45.4 7.6 422 9637 0.00 2.05 16.58 0.392 9222 0.000 0.030 3240 2001 1468 1577 1360 0 0 0 0 0 0 28.83 26.45 25.66

9936 1.43 247.3 3242 2001 1559 1352 24.2 7.4 455 9984 0.12 2.20 35.53 0.381 10500 0.081 0.045 3333 3402 1360 1471 1250 0 0 0 0 0 0 26.57 26.20 25.63

10085 end climb: SURFACE_DEPTH_REACHED

state 10085 begin surface coast

10105 end surface coast: CONTROL_FINISHED_OK

state 10105 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	306	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	54	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	35	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	-20903.795	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	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	070413,192336,2325.062,12139.438,38,0.9,39,-3.1	TGT_NAME	INSHORE1
_CALLS	1	TGT_LATLONG	2321.000,12139.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070413,192955,2325.173,12139.479,16,1.2,16,-3.1	MHEAD_RNG_PITCHd_Wd	188.9,7771,-14.1,-8.333,-18.40,2833
SPEED_LIMITS	0.144,0.302	D_GRID	1639

FINISH	0.2,1.022849	_10V_AH	10.2,29.374
SM_CCo	10124,74.90,0.060,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	0.99,8.30,1.38,74.90,0.035,0.029,0.060,137,2496,748,-8.29,1.81,400.08,0,0,0,0,0,0,26.27,26.32,26.03	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2319.18,12109.51,070413,161653	MEM	323716
TT8_MAMPS	0.047936,0.047936	DATA_FILE_SIZE	16768,483
HUMID	47.20	CAP_FILE_SIZE	258001,0
INTERNAL_PRESSURE	9.59367	CFSIZE	260034560,223600640
TCM_TEMP	22.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.077, 58.4,1
SC_FREEKB	3922720	GPS	070413,222159,2323.837,12139.823,38,1.3,38,-3.1
_24V_AH	23.7,45.678

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	216	105.06	nil	0	0	0.00
Roll_motor	78	54	100.54	nil	0	0	0.00
VBD_pump_during_apogee	601	889	12686.25	nil	0	0	0.00
VBD_pump_during_surface	74	59	105.92	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	10099	4	987.54
Iridium_during_xfer	215	125	640.32	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	27	4.82
TT8	2021	35	740.86
LPSleep	6008	2	134.22
TT8_Active	708	35	259.71
TT8_Sampling	1493	58	889.60
TT8_CF8	361	65	242.70
TT8_Kalman	0	0	0.00
Analog_circuits	1674	15	256.17
GPS_charging	0	0	0.00
Compass	1212	5	74.08
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.11	-155.6	112	2494	846	658	0.0	0.0	0	82	0.00	0.00	-60.12	0.000	16386	0.000	0.000	112	2494	2461	2530	2393	0	0	0	0	0	0	28.83	28.83	28.83
85	-1.27	-201.4	112	2494	2533	2394	3.7	-6.7	8	117	8.95	2.15	-12.52	0.000	18948	0.216	0.043	2400	1096	3208	3284	3132	0	0	0	0	0	0	25.55	26.17	26.53
214	-1.27	-201.4	2399	1096	3286	3132	50.9	-29.3	23	220	0.00	2.15	0.00	0.000	1030	0.000	0.036	2391	2499	3209	3286	3132	0	0	0	0	0	0	28.83	26.13	28.83
529	-1.27	-201.4	2390	2499	3294	3132	138.9	-27.8	39	535	0.00	1.85	0.00	0.000	260	0.000	0.053	2381	3670	3213	3294	3132	0	0	0	0	0	0	28.83	26.20	28.83
690	-1.27	-201.4	2381	3670	3296	3133	180.3	-27.4	46	697	0.12	1.70	0.00	0.000	3078	0.156	0.024	2414	2483	3214	3296	3132	0	0	0	0	0	0	26.11	26.46	28.83
1007	-1.27	-201.4	2413	2482	3298	3129	258.0	-23.3	62	1014	0.00	2.03	0.00	0.000	516	0.000	0.029	2414	1105	3215	3297	3133	0	0	0	0	0	0	28.83	26.43	28.83
1036	-1.27	-201.4	2413	1105	3300	3133	264.3	-23.2	63	1042	0.00	2.12	0.00	0.000	1030	0.000	0.037	2404	2501	3214	3297	3132	0	0	0	0	0	0	28.83	26.34	28.83
1357	-1.27	-201.4	2403	2501	3298	3132	341.4	-24.6	79	1363	0.00	2.08	0.00	0.000	516	0.000	0.028	2404	1105	3213	3295	3132	0	0	0	0	0	0	28.83	26.45	28.83
1392	-1.27	-201.4	2403	1105	3297	3133	347.9	-24.9	80	1397	0.00	2.12	0.00	0.000	1030	0.000	0.037	2393	2504	3215	3298	3132	0	0	0	0	0	0	28.83	26.36	28.83
1706	-1.27	-201.4	2389	2504	3297	3133	426.0	-23.6	96	1707	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2504	3214	3297	3132	0	0	0	0	0	0	28.83	28.83	28.83
2007	-1.27	-201.4	2392	2504	3297	3132	492.9	-21.9	111	2008	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2504	3214	3297	3132	0	0	0	0	0	0	28.83	28.83	28.83
2306	-1.27	-201.4	2392	2504	3297	3132	555.9	-20.5	126	2312	0.00	1.83	0.00	0.000	260	0.000	0.053	2387	3674	3214	3297	3132	0	0	0	0	0	0	28.83	26.33	28.83
2357	-1.27	-201.4	2384	3674	3297	3132	565.3	-20.6	128	2363	0.00	1.67	0.00	0.000	1030	0.000	0.025	2384	2495	3214	3297	3132	0	0	0	0	0	0	28.83	26.61	28.83
2686	-1.27	-201.4	2384	2494	3297	3128	633.7	-20.6	142	2692	0.00	2.03	0.00	0.000	516	0.000	0.028	2384	1115	3212	3297	3128	0	0	0	0	0	0	28.83	26.49	28.83
2733	-1.27	-201.4	2384	1116	3298	3127	640.8	-20.7	143	2740	0.15	2.12	0.00	0.000	3078	0.156	0.038	2413	2505	3212	3297	3127	0	0	0	0	0	0	26.10	26.38	28.83
3058	-1.27	-201.4	2413	2505	3297	3124	702.0	-18.0	154	3064	0.00	1.83	0.00	0.000	260	0.000	0.054	2405	3671	3210	3297	3124	0	0	0	0	0	0	28.83	26.32	28.83
3097	-1.27	-201.4	2405	3671	3297	3124	708.5	-18.4	155	3103	0.00	1.73	0.00	0.000	1030	0.000	0.027	2405	2508	3210	3297	3123	0	0	0	0	0	0	28.83	26.60	28.83
3428	-1.27	-201.4	2405	2508	3294	3118	774.8	-19.9	166	3434	0.00	2.08	0.00	0.000	516	0.000	0.029	2405	1106	3207	3297	3118	0	0	0	0	0	0	28.83	26.47	28.83
3487	-1.27	-201.4	2405	1105	3297	3117	782.3	-20.3	167	3495	0.00	2.15	0.00	0.000	1030	0.000	0.038	2395	2510	3207	3297	3117	0	0	0	0	0	0	28.83	26.36	28.83
3794	-1.27	-201.4	2394	2509	3294	3114	847.4	-18.9	178	3800	0.00	1.83	0.00	0.000	260	0.000	0.054	2386	3672	3204	3294	3114	0	0	0	0	0	0	28.83	26.29	28.83
3849	-1.27	-201.4	2386	3672	3294	3114	854.5	-19.3	179	3855	0.00	1.70	0.00	0.000	1030	0.000	0.028	2386	2498	3204	3294	3114	0	0	0	0	0	0	28.83	26.59	28.83
4165	-1.27	-201.4	2386	2496	3292	3111	920.5	-20.2	190	4167	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2496	3201	3292	3111	0	0	0	0	0	0	28.83	28.83	28.83
4314	end dive: TARGET_DEPTH_EXCEEDED
state	4314	begin apogee
4320	-0.20	0.0	2386	1997	3290	3108	950.1	-19.6	195	4652	1.12	0.00	323.00	0.759	10246	0.121	0.000	2752	1995	2378	2540	2217	0	0	0	0	0	0	25.88	28.83	24.22
4654	end apogee: CONTROL_FINISHED_OK
state	4654	begin climb
4658	1.27	201.4	2752	1995	2531	2206	971.3	0.0	205	4891	1.30	0.00	226.55	0.890	10758	0.044	0.000	3238	1994	1557	1655	1460	0	0	0	0	0	0	25.07	28.83	23.70
5184	1.27	201.4	3238	1994	1616	1421	884.0	22.5	224	5190	0.00	2.28	0.00	0.000	260	0.000	0.047	3238	3414	1518	1616	1420	0	0	0	0	0	0	28.83	25.86	28.83
5319	1.27	201.4	3238	3414	1620	1420	854.0	23.6	228	5326	0.00	2.12	0.00	0.000	1030	0.000	0.028	3250	2006	1516	1615	1418	0	0	0	0	0	0	28.83	26.13	28.83
5645	1.27	201.4	3250	2005	1614	1418	779.9	22.3	239	5646	0.00	0.00	0.00	0.000	6	0.000	0.000	3250	2005	1516	1614	1418	0	0	0	0	0	0	28.83	28.83	28.83
5945	1.27	201.4	3250	2005	1612	1418	710.2	24.3	249	5951	0.00	2.22	0.00	0.000	260	0.000	0.046	3250	3418	1514	1612	1417	0	0	0	0	0	0	28.83	26.27	28.83
6004	1.27	201.4	3250	3418	1612	1417	701.3	24.7	250	6013	0.12	2.12	0.00	0.000	5126	0.183	0.029	3231	1991	1514	1612	1417	0	0	0	0	0	0	26.03	26.39	28.83
6313	1.27	201.4	3231	1991	1611	1416	626.0	21.2	261	6318	0.00	2.25	0.00	0.000	260	0.000	0.046	3232	3421	1513	1611	1416	0	0	0	0	0	0	28.83	26.31	28.83
6367	1.27	201.4	3231	3421	1611	1416	618.0	21.0	262	6373	0.00	2.12	0.00	0.000	1030	0.000	0.029	3243	1995	1513	1611	1416	0	0	0	0	0	0	28.83	26.44	28.83
6682	1.27	201.4	3242	1994	1611	1415	549.9	19.3	277	6683	0.00	0.00	0.00	0.000	6	0.000	0.000	3243	1994	1512	1611	1414	0	0	0	0	0	0	28.83	28.83	28.83
6982	1.27	201.4	3242	1994	1610	1413	492.2	20.1	292	6988	0.00	2.22	0.00	0.000	260	0.000	0.046	3242	3415	1511	1610	1413	0	0	0	0	0	0	28.83	26.34	28.83
7016	1.27	201.4	3242	3415	1610	1413	487.0	20.3	293	7022	0.00	2.12	0.00	0.000	1030	0.000	0.029	3254	1992	1511	1609	1413	0	0	0	0	0	0	28.83	26.47	28.83
7331	1.27	201.4	3254	1992	1609	1411	420.0	19.1	309	7337	0.00	2.22	0.00	0.000	260	0.000	0.046	3255	3414	1510	1609	1411	0	0	0	0	0	0	28.83	26.34	28.83
7442	1.27	201.4	2304	3414	1577	1407	397.9	20.7	314	7449	0.15	2.10	0.00	0.000	5126	0.173	0.030	3227	1996	1512	1609	1415	0	0	0	0	0	0	26.04	26.47	28.83
7764	1.27	201.4	3227	1998	1608	1410	340.7	17.4	330	7770	0.00	2.12	0.00	0.000	516	0.000	0.041	3238	610	1509	1608	1410	0	0	0	0	0	0	28.83	26.36	28.83
7858	1.27	201.4	3237	610	1608	1410	324.8	17.5	334	7864	0.00	2.10	0.00	0.000	1030	0.000	0.031	3238	2019	1508	1607	1410	0	0	0	0	0	0	28.83	26.44	28.83
8180	1.27	201.4	3237	2019	1608	1409	267.8	17.2	350	8186	0.00	2.15	0.00	0.000	260	0.000	0.046	3238	3400	1509	1608	1410	0	0	0	0	0	0	28.83	26.33	28.83
8256	1.27	201.4	3238	3400	1608	1410	255.5	17.5	353	8262	0.00	2.08	0.00	0.000	1030	0.000	0.029	3249	1998	1509	1608	1410	0	0	0	0	0	0	28.83	26.48	28.83
8571	1.27	201.4	3249	1998	1608	1410	194.9	19.2	369	8572	0.00	0.00	0.00	0.000	6	0.000	0.000	3250	1998	1509	1608	1410	0	0	0	0	0	0	28.83	28.83	28.83
8871	1.27	201.4	3249	1997	1604	1410	142.6	17.5	384	8877	0.00	2.20	0.00	0.000	260	0.000	0.046	3250	3400	1509	1608	1410	0	0	0	0	0	0	28.83	26.32	28.83
9048	1.27	201.4	3249	3400	1608	1410	112.5	18.3	392	9055	0.12	2.08	0.00	0.000	5126	0.171	0.028	3229	1991	1509	1608	1410	0	0	0	0	0	0	26.13	26.50	28.83
9366	1.27	201.4	3229	1991	1608	1410	68.6	12.9	408	9372	0.00	2.10	0.00	0.000	516	0.000	0.039	3240	613	1510	1608	1412	0	0	0	0	0	0	28.83	26.36	28.83
9610	1.34	221.4	3239	613	1612	1409	45.4	7.6	422	9637	0.00	2.05	16.58	0.392	9222	0.000	0.030	3240	2001	1468	1577	1360	0	0	0	0	0	0	28.83	26.45	25.66
9936	1.43	247.3	3242	2001	1559	1352	24.2	7.4	455	9984	0.12	2.20	35.53	0.381	10500	0.081	0.045	3333	3402	1360	1471	1250	0	0	0	0	0	0	26.57	26.20	25.63
10085	end climb: SURFACE_DEPTH_REACHED
state	10085	begin surface coast
10105	end surface coast: CONTROL_FINISHED_OK
state	10105	begin surface