Glider dive log

OKMC 16May13 * SG181 * Dive index * Mission links * Dive 31 * 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 31 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 60 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 450 R_STBD_OVSHOOT 34 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 -95711.094 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 -95711.094

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 60 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 34 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 31 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 200513,103412,2148.667,12035.786,11,1.4,27,-2.7 TGT_NAME DOGLEG2

_CALLS 1 TGT_LATLONG 2148.000,12100.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200513,104055,2148.685,12035.792,13,1.5,13,-2.7 MHEAD_RNG_PITCHd_Wd 101.9,41646,-14.3,-10.000,-17.31,2952

SPEED_LIMITS 0.173,0.321 D_GRID 698

Post-dive calculations and measurements:

FINISH -0.2,1.021722 _10V_AH 13.7,0.000

SM_CCo 7716,67.57,0.148,0,0,916,450.13 FG_AHR_24Vo 0.000

SM_GC 0.09,7.60,0.00,67.57,0.054,0.000,0.148,226,2382,916,-7.62,-0.51,450.13,0,0,0,0,0,0,14.90,28.83,14.77 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12023.58,200513,080848 MEM 323232

TT8_MAMPS 0.019474,0.019474 DATA_FILE_SIZE 16797,430

HUMID 45.82 CAP_FILE_SIZE 98188,0

INTERNAL_PRESSURE 9.68787 CFSIZE 260034560,253280256

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 19 CURRENT 0.028, 56.1,1

SC_FREEKB 3926208 GPS 200513,125230,2148.574,12037.057,40,1.0,40,-2.7

_24V_AH 13.7,31.140

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 418 115.09 nil 0 0 0.00

Roll_motor 70 89 86.94 nil 0 0 0.00

VBD_pump_during_apogee 401 1386 7627.13 nil 0 0 0.00

VBD_pump_during_surface 67 148 137.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 112 43.20 nil 0 0 0.00

Iridium_during_connect 40 160 89.00 SciCon 7729 6 674.50

Iridium_during_xfer 176 223 538.15 nil 0 0 0.00

Transponder_ping 4 420 27.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 20 4.57

TT8 1322 10 198.52

LPSleep 4921 2 147.67

TT8_Active 559 10 84.02

TT8_Sampling 1319 28 523.07

TT8_CF8 82 35 40.17

TT8_Kalman 0 0 0.00

Analog_circuits 1130 16 247.89

GPS_charging 0 0 0.00

Compass 964 6 89.05

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 -194.6 208 2384 917 915 0.0 0.0 0 105 0.00 0.00 -84.15 0.000 16386 0.000 0.000 207 2386 3046 3095 2997 0 0 0 0 0 0 28.83 28.83 28.83

107 -0.91 -194.6 207 2385 3095 2998 3.2 -10.9 14 134 10.30 2.25 -8.43 0.000 19204 0.418 0.067 2397 996 3550 3638 3463 0 0 0 0 0 0 14.48 14.77 14.94

360 -0.91 -194.6 2397 995 3638 3466 88.2 -29.1 35 367 0.00 2.28 0.00 0.000 1030 0.000 0.059 2389 2402 3552 3638 3466 0 0 0 0 0 0 28.83 14.81 28.83

666 -0.91 -194.6 2389 2402 3639 3468 161.1 -21.4 51 671 0.00 2.25 0.00 0.000 260 0.000 0.080 2379 3788 3553 3639 3467 0 0 0 0 0 0 28.83 14.85 28.83

697 -0.91 -194.6 2378 3789 3639 3468 166.3 -22.0 52 703 0.00 2.12 0.00 0.000 1030 0.000 0.037 2379 2389 3553 3639 3468 0 0 0 0 0 0 28.83 14.92 28.83

1011 -0.91 -194.6 2379 2383 3639 3469 236.9 -21.3 68 1016 0.00 2.12 0.00 0.000 516 0.000 0.046 2378 1007 3554 3639 3469 0 0 0 0 0 0 28.83 14.94 28.83

1082 -0.91 -194.6 2379 1007 3639 3468 249.4 -19.9 71 1088 0.15 2.25 0.00 0.000 3078 0.278 0.060 2403 2410 3554 3639 3469 0 0 0 0 0 0 14.80 14.92 28.83

1394 -0.91 -194.6 2403 2410 3640 3468 305.5 -17.4 87 1400 0.00 2.22 0.00 0.000 260 0.000 0.083 2395 3782 3553 3639 3468 0 0 0 0 0 0 28.83 14.92 28.83

1557 -0.91 -194.6 2395 3782 3639 3466 334.3 -17.4 95 1563 0.00 2.10 0.00 0.000 1030 0.000 0.036 2395 2391 3552 3638 3467 0 0 0 0 0 0 28.83 15.00 28.83

1880 -0.91 -194.6 2394 2385 3640 3463 386.3 -16.1 111 1885 0.00 2.12 0.00 0.000 516 0.000 0.048 2395 1013 3551 3639 3463 0 0 0 0 0 0 28.83 14.97 28.83

1916 -0.91 -194.6 2395 1012 3639 3463 389.9 -16.2 112 1923 0.00 2.22 0.00 0.000 1030 0.000 0.060 2385 2400 3551 3639 3463 0 0 0 0 0 0 28.83 14.99 28.83

2222 -0.91 -194.6 2385 2400 3639 3460 445.8 -16.8 128 2227 0.00 2.25 0.00 0.000 260 0.000 0.086 2375 3783 3549 3639 3459 0 0 0 0 0 0 28.83 14.95 28.83

2248 -0.91 -194.6 2375 3783 3639 3459 449.6 -16.9 129 2254 0.12 2.10 0.00 0.000 3078 0.278 0.039 2400 2396 3548 3639 3458 0 0 0 0 0 0 14.85 15.02 28.83

2566 -0.91 -194.6 2401 2392 3639 3455 499.4 -15.1 145 2568 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2392 3550 3646 3455 0 0 0 0 0 0 28.83 28.83 28.83

2866 -0.91 -194.6 2398 2392 3639 3451 546.2 -16.5 160 2872 0.00 2.15 0.00 0.000 516 0.000 0.050 2402 1009 3545 3639 3451 0 0 0 0 0 0 28.83 15.00 28.83

2953 -0.91 -194.6 1544 1009 3634 3448 558.6 -15.0 164 2959 0.00 2.25 0.00 0.000 1030 0.000 0.060 2395 2409 3544 3638 3450 0 0 0 0 0 0 28.83 14.97 28.83

3270 -0.91 -194.6 2394 2410 3636 3447 611.2 -15.3 179 3276 0.00 2.25 0.00 0.000 260 0.000 0.090 2384 3784 3541 3635 3447 0 0 0 0 0 0 28.83 14.95 28.83

3303 -0.91 -194.6 2385 3785 3634 3447 616.3 -15.1 180 3309 0.00 2.12 0.00 0.000 1030 0.000 0.042 2385 2399 3540 3634 3447 0 0 0 0 0 0 28.83 15.02 28.83

3635 end dive: NO_VERTICAL_VELOCITY

state 3635 begin apogee

3639 -0.25 0.0 2384 2398 3634 3444 633.6 0.0 191 3822 0.62 0.00 175.45 1.386 10246 0.061 0.000 2640 2392 2749 2782 2717 0 0 0 0 0 0 15.01 28.83 13.76

3824 end apogee: CONTROL_FINISHED_OK

state 3824 begin climb

3825 0.91 194.6 2641 2392 2781 2716 634.0 0.0 197 4008 0.98 0.00 178.80 1.346 10502 0.047 0.000 3018 2392 1958 1988 1929 0 0 0 0 0 0 14.34 28.83 13.70

4306 0.91 194.6 3019 2392 1984 1909 549.4 20.5 217 4312 0.00 2.35 0.00 0.000 260 0.000 0.088 3019 3784 1943 1984 1903 0 0 0 0 0 0 28.83 14.69 28.83

4337 0.91 194.6 3018 3784 1984 1903 544.2 21.1 218 4344 0.15 2.20 0.00 0.000 5126 0.311 0.041 2999 2369 1943 1984 1903 0 0 0 0 0 0 14.58 14.76 28.83

4650 0.91 194.6 2999 2363 1984 1897 481.3 21.2 234 4656 0.00 2.20 0.00 0.000 516 0.000 0.052 3006 984 1940 1984 1897 0 0 0 0 0 0 28.83 14.84 28.83

4696 0.91 194.6 2096 982 1948 1888 473.3 19.4 236 4702 0.00 2.25 0.00 0.000 1030 0.000 0.058 3006 2375 1940 1983 1897 0 0 0 0 0 0 28.83 14.83 28.83

5014 0.91 194.6 3006 2375 1985 1895 408.6 21.0 252 5019 0.00 2.33 0.00 0.000 260 0.000 0.089 3006 3784 1939 1984 1895 0 0 0 0 0 0 28.83 14.85 28.83

5045 0.91 194.6 3006 3784 1984 1895 403.9 21.1 253 5051 0.00 2.17 0.00 0.000 1030 0.000 0.040 3017 2369 1939 1984 1895 0 0 0 0 0 0 28.83 14.92 28.83

5358 0.91 194.6 3017 2364 1984 1893 338.8 20.2 269 5363 0.00 2.20 0.00 0.000 516 0.000 0.052 3027 975 1938 1984 1893 0 0 0 0 0 0 28.83 14.92 28.83

5381 0.91 194.6 3027 975 1984 1892 334.4 19.8 270 5387 0.15 2.28 0.00 0.000 5126 0.282 0.058 2994 2382 1938 1983 1893 0 0 0 0 0 0 14.78 14.91 28.83

5704 0.91 194.6 2995 2382 1984 1890 280.7 16.6 286 5710 0.00 2.30 0.00 0.000 260 0.000 0.089 2994 3774 1937 1984 1891 0 0 0 0 0 0 28.83 14.90 28.83

5812 0.91 194.6 2994 3775 1984 1891 260.2 20.2 291 5817 0.00 2.15 0.00 0.000 1030 0.000 0.041 3002 2370 1937 1984 1891 0 0 0 0 0 0 28.83 14.96 28.83

6129 0.91 194.6 3002 2366 1984 1889 201.3 16.5 307 6130 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2366 1936 1984 1889 0 0 0 0 0 0 28.83 28.83 28.83

6429 0.91 194.6 3002 2366 1984 1888 153.5 15.6 322 6435 0.00 2.20 0.00 0.000 516 0.000 0.054 3012 975 1936 1984 1888 0 0 0 0 0 0 28.83 14.94 28.83

6502 0.91 194.6 3012 975 1984 1889 143.9 15.6 325 6508 0.00 2.25 0.00 0.000 1030 0.000 0.057 3012 2377 1935 1983 1888 0 0 0 0 0 0 28.83 14.94 28.83

6815 0.91 194.6 3012 2378 1983 1887 92.4 13.0 341 6817 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2377 1935 1984 1887 0 0 0 0 0 0 28.83 28.83 28.83

7116 0.93 215.5 3012 2377 1985 1887 60.8 9.3 356 7130 0.00 2.33 7.47 0.304 8452 0.000 0.085 3012 3769 1874 1917 1832 0 0 0 0 0 0 28.83 14.88 14.73

7137 0.93 215.5 3012 3769 1917 1836 58.2 10.0 357 7143 0.00 2.12 0.00 0.000 1030 0.000 0.038 3022 2370 1876 1917 1836 0 0 0 0 0 0 28.83 14.97 28.83

7450 1.01 298.5 3022 2366 1922 1842 26.3 7.1 384 7495 0.00 2.25 39.90 0.222 8708 0.000 0.051 3033 984 1535 1573 1497 0 0 0 0 0 0 28.83 14.89 14.75

7602 1.01 298.5 3033 983 1577 1498 10.9 10.2 411 7609 0.00 2.25 0.00 0.000 1030 0.000 0.054 3036 2382 1538 1578 1498 0 0 0 0 0 0 28.83 14.87 28.83

7675 end climb: SURFACE_DEPTH_REACHED

state 7675 begin surface coast

7701 end surface coast: CONTROL_FINISHED_OK

state 7701 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	31	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	60	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	450	R_STBD_OVSHOOT	34	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	-95711.094	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	200513,103412,2148.667,12035.786,11,1.4,27,-2.7	TGT_NAME	DOGLEG2
_CALLS	1	TGT_LATLONG	2148.000,12100.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200513,104055,2148.685,12035.792,13,1.5,13,-2.7	MHEAD_RNG_PITCHd_Wd	101.9,41646,-14.3,-10.000,-17.31,2952
SPEED_LIMITS	0.173,0.321	D_GRID	698

FINISH	-0.2,1.021722	_10V_AH	13.7,0.000
SM_CCo	7716,67.57,0.148,0,0,916,450.13	FG_AHR_24Vo	0.000
SM_GC	0.09,7.60,0.00,67.57,0.054,0.000,0.148,226,2382,916,-7.62,-0.51,450.13,0,0,0,0,0,0,14.90,28.83,14.77	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12023.58,200513,080848	MEM	323232
TT8_MAMPS	0.019474,0.019474	DATA_FILE_SIZE	16797,430
HUMID	45.82	CAP_FILE_SIZE	98188,0
INTERNAL_PRESSURE	9.68787	CFSIZE	260034560,253280256
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	19	CURRENT	0.028, 56.1,1
SC_FREEKB	3926208	GPS	200513,125230,2148.574,12037.057,40,1.0,40,-2.7
_24V_AH	13.7,31.140

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	418	115.09	nil	0	0	0.00
Roll_motor	70	89	86.94	nil	0	0	0.00
VBD_pump_during_apogee	401	1386	7627.13	nil	0	0	0.00
VBD_pump_during_surface	67	148	137.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	112	43.20	nil	0	0	0.00
Iridium_during_connect	40	160	89.00	SciCon	7729	6	674.50
Iridium_during_xfer	176	223	538.15	nil	0	0	0.00
Transponder_ping	4	420	27.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	20	4.57
TT8	1322	10	198.52
LPSleep	4921	2	147.67
TT8_Active	559	10	84.02
TT8_Sampling	1319	28	523.07
TT8_CF8	82	35	40.17
TT8_Kalman	0	0	0.00
Analog_circuits	1130	16	247.89
GPS_charging	0	0	0.00
Compass	964	6	89.05
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	208	2384	917	915	0.0	0.0	0	105	0.00	0.00	-84.15	0.000	16386	0.000	0.000	207	2386	3046	3095	2997	0	0	0	0	0	0	28.83	28.83	28.83
107	-0.91	-194.6	207	2385	3095	2998	3.2	-10.9	14	134	10.30	2.25	-8.43	0.000	19204	0.418	0.067	2397	996	3550	3638	3463	0	0	0	0	0	0	14.48	14.77	14.94
360	-0.91	-194.6	2397	995	3638	3466	88.2	-29.1	35	367	0.00	2.28	0.00	0.000	1030	0.000	0.059	2389	2402	3552	3638	3466	0	0	0	0	0	0	28.83	14.81	28.83
666	-0.91	-194.6	2389	2402	3639	3468	161.1	-21.4	51	671	0.00	2.25	0.00	0.000	260	0.000	0.080	2379	3788	3553	3639	3467	0	0	0	0	0	0	28.83	14.85	28.83
697	-0.91	-194.6	2378	3789	3639	3468	166.3	-22.0	52	703	0.00	2.12	0.00	0.000	1030	0.000	0.037	2379	2389	3553	3639	3468	0	0	0	0	0	0	28.83	14.92	28.83
1011	-0.91	-194.6	2379	2383	3639	3469	236.9	-21.3	68	1016	0.00	2.12	0.00	0.000	516	0.000	0.046	2378	1007	3554	3639	3469	0	0	0	0	0	0	28.83	14.94	28.83
1082	-0.91	-194.6	2379	1007	3639	3468	249.4	-19.9	71	1088	0.15	2.25	0.00	0.000	3078	0.278	0.060	2403	2410	3554	3639	3469	0	0	0	0	0	0	14.80	14.92	28.83
1394	-0.91	-194.6	2403	2410	3640	3468	305.5	-17.4	87	1400	0.00	2.22	0.00	0.000	260	0.000	0.083	2395	3782	3553	3639	3468	0	0	0	0	0	0	28.83	14.92	28.83
1557	-0.91	-194.6	2395	3782	3639	3466	334.3	-17.4	95	1563	0.00	2.10	0.00	0.000	1030	0.000	0.036	2395	2391	3552	3638	3467	0	0	0	0	0	0	28.83	15.00	28.83
1880	-0.91	-194.6	2394	2385	3640	3463	386.3	-16.1	111	1885	0.00	2.12	0.00	0.000	516	0.000	0.048	2395	1013	3551	3639	3463	0	0	0	0	0	0	28.83	14.97	28.83
1916	-0.91	-194.6	2395	1012	3639	3463	389.9	-16.2	112	1923	0.00	2.22	0.00	0.000	1030	0.000	0.060	2385	2400	3551	3639	3463	0	0	0	0	0	0	28.83	14.99	28.83
2222	-0.91	-194.6	2385	2400	3639	3460	445.8	-16.8	128	2227	0.00	2.25	0.00	0.000	260	0.000	0.086	2375	3783	3549	3639	3459	0	0	0	0	0	0	28.83	14.95	28.83
2248	-0.91	-194.6	2375	3783	3639	3459	449.6	-16.9	129	2254	0.12	2.10	0.00	0.000	3078	0.278	0.039	2400	2396	3548	3639	3458	0	0	0	0	0	0	14.85	15.02	28.83
2566	-0.91	-194.6	2401	2392	3639	3455	499.4	-15.1	145	2568	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2392	3550	3646	3455	0	0	0	0	0	0	28.83	28.83	28.83
2866	-0.91	-194.6	2398	2392	3639	3451	546.2	-16.5	160	2872	0.00	2.15	0.00	0.000	516	0.000	0.050	2402	1009	3545	3639	3451	0	0	0	0	0	0	28.83	15.00	28.83
2953	-0.91	-194.6	1544	1009	3634	3448	558.6	-15.0	164	2959	0.00	2.25	0.00	0.000	1030	0.000	0.060	2395	2409	3544	3638	3450	0	0	0	0	0	0	28.83	14.97	28.83
3270	-0.91	-194.6	2394	2410	3636	3447	611.2	-15.3	179	3276	0.00	2.25	0.00	0.000	260	0.000	0.090	2384	3784	3541	3635	3447	0	0	0	0	0	0	28.83	14.95	28.83
3303	-0.91	-194.6	2385	3785	3634	3447	616.3	-15.1	180	3309	0.00	2.12	0.00	0.000	1030	0.000	0.042	2385	2399	3540	3634	3447	0	0	0	0	0	0	28.83	15.02	28.83
3635	end dive: NO_VERTICAL_VELOCITY
state	3635	begin apogee
3639	-0.25	0.0	2384	2398	3634	3444	633.6	0.0	191	3822	0.62	0.00	175.45	1.386	10246	0.061	0.000	2640	2392	2749	2782	2717	0	0	0	0	0	0	15.01	28.83	13.76
3824	end apogee: CONTROL_FINISHED_OK
state	3824	begin climb
3825	0.91	194.6	2641	2392	2781	2716	634.0	0.0	197	4008	0.98	0.00	178.80	1.346	10502	0.047	0.000	3018	2392	1958	1988	1929	0	0	0	0	0	0	14.34	28.83	13.70
4306	0.91	194.6	3019	2392	1984	1909	549.4	20.5	217	4312	0.00	2.35	0.00	0.000	260	0.000	0.088	3019	3784	1943	1984	1903	0	0	0	0	0	0	28.83	14.69	28.83
4337	0.91	194.6	3018	3784	1984	1903	544.2	21.1	218	4344	0.15	2.20	0.00	0.000	5126	0.311	0.041	2999	2369	1943	1984	1903	0	0	0	0	0	0	14.58	14.76	28.83
4650	0.91	194.6	2999	2363	1984	1897	481.3	21.2	234	4656	0.00	2.20	0.00	0.000	516	0.000	0.052	3006	984	1940	1984	1897	0	0	0	0	0	0	28.83	14.84	28.83
4696	0.91	194.6	2096	982	1948	1888	473.3	19.4	236	4702	0.00	2.25	0.00	0.000	1030	0.000	0.058	3006	2375	1940	1983	1897	0	0	0	0	0	0	28.83	14.83	28.83
5014	0.91	194.6	3006	2375	1985	1895	408.6	21.0	252	5019	0.00	2.33	0.00	0.000	260	0.000	0.089	3006	3784	1939	1984	1895	0	0	0	0	0	0	28.83	14.85	28.83
5045	0.91	194.6	3006	3784	1984	1895	403.9	21.1	253	5051	0.00	2.17	0.00	0.000	1030	0.000	0.040	3017	2369	1939	1984	1895	0	0	0	0	0	0	28.83	14.92	28.83
5358	0.91	194.6	3017	2364	1984	1893	338.8	20.2	269	5363	0.00	2.20	0.00	0.000	516	0.000	0.052	3027	975	1938	1984	1893	0	0	0	0	0	0	28.83	14.92	28.83
5381	0.91	194.6	3027	975	1984	1892	334.4	19.8	270	5387	0.15	2.28	0.00	0.000	5126	0.282	0.058	2994	2382	1938	1983	1893	0	0	0	0	0	0	14.78	14.91	28.83
5704	0.91	194.6	2995	2382	1984	1890	280.7	16.6	286	5710	0.00	2.30	0.00	0.000	260	0.000	0.089	2994	3774	1937	1984	1891	0	0	0	0	0	0	28.83	14.90	28.83
5812	0.91	194.6	2994	3775	1984	1891	260.2	20.2	291	5817	0.00	2.15	0.00	0.000	1030	0.000	0.041	3002	2370	1937	1984	1891	0	0	0	0	0	0	28.83	14.96	28.83
6129	0.91	194.6	3002	2366	1984	1889	201.3	16.5	307	6130	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2366	1936	1984	1889	0	0	0	0	0	0	28.83	28.83	28.83
6429	0.91	194.6	3002	2366	1984	1888	153.5	15.6	322	6435	0.00	2.20	0.00	0.000	516	0.000	0.054	3012	975	1936	1984	1888	0	0	0	0	0	0	28.83	14.94	28.83
6502	0.91	194.6	3012	975	1984	1889	143.9	15.6	325	6508	0.00	2.25	0.00	0.000	1030	0.000	0.057	3012	2377	1935	1983	1888	0	0	0	0	0	0	28.83	14.94	28.83
6815	0.91	194.6	3012	2378	1983	1887	92.4	13.0	341	6817	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2377	1935	1984	1887	0	0	0	0	0	0	28.83	28.83	28.83
7116	0.93	215.5	3012	2377	1985	1887	60.8	9.3	356	7130	0.00	2.33	7.47	0.304	8452	0.000	0.085	3012	3769	1874	1917	1832	0	0	0	0	0	0	28.83	14.88	14.73
7137	0.93	215.5	3012	3769	1917	1836	58.2	10.0	357	7143	0.00	2.12	0.00	0.000	1030	0.000	0.038	3022	2370	1876	1917	1836	0	0	0	0	0	0	28.83	14.97	28.83
7450	1.01	298.5	3022	2366	1922	1842	26.3	7.1	384	7495	0.00	2.25	39.90	0.222	8708	0.000	0.051	3033	984	1535	1573	1497	0	0	0	0	0	0	28.83	14.89	14.75
7602	1.01	298.5	3033	983	1577	1498	10.9	10.2	411	7609	0.00	2.25	0.00	0.000	1030	0.000	0.054	3036	2382	1538	1578	1498	0	0	0	0	0	0	28.83	14.87	28.83
7675	end climb: SURFACE_DEPTH_REACHED
state	7675	begin surface coast
7701	end surface coast: CONTROL_FINISHED_OK
state	7701	begin surface