Glider dive log

OKMC Mar13 * SG177 * Dive index * Mission links * Dive 345 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 177 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2375 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 345 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2240 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 500 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 55 ALTIM_SENSITIVITY 0

D_ABORT 650 SM_CC 619.87311 R_STBD_OVSHOOT 81 XPDR_VALID 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 400 XPDR_INHIBIT 90

D_BOOST 20 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 465 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 3 VBD_MAX 3960 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2992 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 180 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0020000001 DEVICE5 -1

T_MISSION 230 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 50 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 -16982.373 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -5 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

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 159 MINV_24V 22 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3950 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 200 C_PITCH 2925 FG_AHR_10V 0 SEABIRD_T_G 0.0044109048

COURSE_BIAS 0 PITCH_DBAND 0.050000001 FG_AHR_24V 0 SEABIRD_T_H 0.00065266038

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7513828e-05

SPEED_FACTOR 1 P_OVSHOOT 0.029999999 PRESSURE_YINT -43.106712 SEABIRD_T_J 3.0466049e-06

RHO 1.0275 PITCH_GAIN 25 PRESSURE_SLOPE 0.000115925 SEABIRD_C_G -9.9740562

MASS 52151 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1339458

NAV_MODE 2 PITCH_AD_RATE 170 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0018908759

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002126007

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 0.001 ROLL_MIN 161 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 9.9999997e-06 ROLL_MAX 3723 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 170 SM_CC 619.87311

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 500 PITCH_DBAND 0.050000001 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 25 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3950 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 159 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 0 FG_AHR_24V 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0020000001 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 0.000115925 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.003 PRESSURE_YINT -43.106712 T_BOOST 5

CALL_TRIES 5 HD_B 0.001 PROTOCOL 9 T_DIVE 180

CALL_WAIT 60 HD_C 9.9999997e-06 P_OVSHOOT 0.029999999 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 -16982.373

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 177 RELAUNCH 1 T_MISSION 230

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2925 LOGGERDEVICE1 53 ROLL_AD_RATE 400 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2240 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2375 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 50

C_VBD 2992 LOGGERDEVICE4 -1 ROLL_MAX 3723 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -5

DEEPGLIDER 0 MASS 52151 ROLL_MIN 161 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 55 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 81 VBD_DBAND 2

DEVICE3 -1 MISSION 4 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 465

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -9.9740562 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 345 N_DIVES 0 SEABIRD_C_H 1.1339458 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 650 N_FILEKB 4 SEABIRD_C_I -0.0018908759 VBD_TIMEOUT 720

D_BOOST 20 N_GPS 20 SEABIRD_C_J 0.0002126007 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 3 SEABIRD_T_G 0.0044109048 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00065266038 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 48 SEABIRD_T_I 2.7513828e-05 XPDR_VALID 0

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 3.0466049e-06

Pre-dive calculations and measurements:

GPS1 240513,143436,1844.442,12157.354,35,2.0,35,-2.1 TGT_NAME PICKUP

_CALLS 2 TGT_LATLONG 1845.000,12200.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -1.50 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 240513,144056,1844.378,12157.188,76,2.4,95,-2.1 MHEAD_RNG_PITCHd_Wd 81.1,5065,-14.5,-9.259,-14.98,481

SPEED_LIMITS 0.160,0.759 D_GRID 1026

Post-dive calculations and measurements:

FINISH -0.3,1.020926 _10V_AH 10.3,40.381

SM_CCo 10736,110.15,0.048,0,0,464,619.87 FG_AHR_24Vo 0.000

SM_GC -1.48,8.68,0.15,110.15,0.069,0.066,0.048,137,2398,464,-8.62,-1.87,619.87,0,0,0,0,0,0,26.25,26.45,26.14 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1837.32,12204.18,240513,141459 MEM 320600

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 20115,589

HUMID 45.94 CAP_FILE_SIZE 320013,0

INTERNAL_PRESSURE 9.71717 CFSIZE 260034560,208785408

TCM_TEMP 25.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0

XPDR_PINGS 62 CURRENT 0.178,261.2,1

SC_FREEKB 3888064 GPS 240513,174545,1844.418,12157.043,133,2.7,152,-2.1

_24V_AH 24.7,43.389

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 244 131.21 nil 0 0 0.00

Roll_motor 74 65 121.71 nil 0 0 0.00

VBD_pump_during_apogee 321 805 6386.92 nil 0 0 0.00

VBD_pump_during_surface 110 48 131.12 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 10696 10 2868.59

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 15 420 160.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 99 30 31.34

TT8 2537 17 449.83

LPSleep 5932 2 133.81

TT8_Active 591 17 104.77

TT8_Sampling 1589 43 710.87

TT8_CF8 376 54 212.09

TT8_Kalman 0 0 0.00

Analog_circuits 1385 15 214.13

GPS_charging 0 0 0.00

Compass 1452 7 112.06

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

20 -0.64 -28.9 154 2412 510 453 0.0 0.0 0 119 0.00 0.00 -94.18 0.000 16386 0.000 0.000 154 2413 2968 3004 2932 0 0 0 0 0 0 28.83 28.83 28.83

123 -0.64 -28.9 154 2413 3004 2933 3.7 -14.0 13 148 10.82 1.90 -2.30 0.000 18692 0.245 0.047 2705 3695 3113 3169 3058 0 0 0 0 0 0 25.53 26.22 26.51

333 -0.64 -28.9 2705 3695 3171 3057 78.9 -28.8 29 338 0.00 1.88 0.00 0.000 1030 0.000 0.029 2705 2317 3113 3171 3056 0 0 0 0 0 0 28.83 26.37 28.83

647 -0.64 -28.9 2704 2316 3173 3055 144.2 -14.9 45 649 0.08 0.00 0.00 0.000 2054 0.201 0.000 2717 2316 3114 3173 3055 0 0 0 0 0 0 26.30 28.83 28.83

948 -0.64 -28.9 2717 2316 3174 3055 182.1 -13.9 60 954 0.00 2.03 0.00 0.000 260 0.000 0.038 2710 3687 3114 3174 3054 0 0 0 0 0 0 28.83 26.28 28.83

972 -0.64 -28.9 2710 3687 3173 3055 185.6 -14.2 61 978 0.00 1.85 0.00 0.000 1030 0.000 0.019 2710 2324 3114 3174 3054 0 0 0 0 0 0 28.83 26.51 28.83

1300 -0.64 -28.9 2710 2323 3174 3053 221.3 -10.4 77 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 2323 3112 3174 3051 0 0 0 0 0 0 28.83 28.83 28.83

1598 -0.64 -28.9 2710 2323 3174 3049 257.1 -11.7 92 1599 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2323 3111 3175 3048 0 0 0 0 0 0 28.83 28.83 28.83

1897 -0.64 -28.9 2710 2324 3174 3044 292.0 -11.9 107 1904 0.00 1.92 0.00 0.000 516 0.000 0.029 2710 969 3108 3174 3043 0 0 0 0 0 0 28.83 26.32 28.83

2035 -0.64 -28.9 2710 969 3174 3040 307.9 -12.3 113 2042 0.08 1.98 0.00 0.000 3078 0.196 0.026 2716 2351 3109 3174 3044 0 0 0 0 0 0 26.16 26.36 28.83

2352 -0.64 -28.9 2718 2351 3174 3035 342.5 -10.5 129 2358 0.00 2.03 0.00 0.000 260 0.000 0.041 2713 3707 3104 3174 3035 0 0 0 0 0 0 28.83 26.23 28.83

2371 -0.64 -28.9 2713 3707 3174 3035 342.5 -10.5 129 2379 0.00 1.90 0.00 0.000 1030 0.000 0.020 2713 2310 3104 3174 3035 0 0 0 0 0 0 28.83 26.51 28.83

2677 -0.64 -28.9 2713 2310 3174 3032 377.1 -9.9 145 2678 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2310 3102 3174 3030 0 0 0 0 0 0 28.83 28.83 28.83

2978 -0.65 -34.8 2713 2310 3174 3025 403.5 -8.0 160 2984 0.00 2.08 0.00 0.000 260 0.000 0.041 2705 3703 3099 3174 3024 0 0 0 0 0 0 28.83 26.22 28.83

3019 -0.66 -41.2 2705 3703 3174 3024 405.5 -7.9 161 3028 0.00 1.88 0.00 0.000 1030 0.000 0.021 2710 2325 3099 3174 3024 0 0 0 0 0 0 28.83 26.49 28.83

3325 -0.67 -42.7 2705 2325 3174 3020 433.2 -8.9 177 3331 0.00 1.85 0.00 0.000 516 0.000 0.030 2705 1022 3096 3174 3019 0 0 0 0 0 0 28.83 26.28 28.83

3359 -0.67 -42.9 2705 1022 3173 3018 435.9 -9.2 178 3365 0.00 1.92 0.00 0.000 1030 0.000 0.028 2700 2372 3095 3173 3018 0 0 0 0 0 0 28.83 26.32 28.83

3674 -0.67 -42.9 2699 2372 3172 3014 470.5 -11.0 194 3680 0.00 2.00 0.00 0.000 260 0.000 0.042 2692 3717 3093 3172 3014 0 0 0 0 0 0 28.83 26.19 28.83

3812 -0.67 -42.9 2692 3717 3171 3014 484.9 -11.4 200 3818 0.08 1.85 0.00 0.000 3078 0.178 0.021 2707 2352 3092 3171 3014 0 0 0 0 0 0 26.23 26.48 28.83

3964 end dive: TARGET_DEPTH_EXCEEDED

state 3964 begin apogee

3970 -0.20 0.0 2707 2352 3170 3013 500.8 -9.1 208 4008 0.47 0.00 30.17 0.545 10246 0.134 0.000 2859 2352 2992 3081 2903 0 0 0 0 1 0 25.71 28.83 25.03

4012 end apogee: CONTROL_FINISHED_OK

state 4013 begin climb

4015 0.67 42.9 2857 2351 3081 2908 502.4 0.0 209 4073 0.77 2.05 43.05 0.806 10500 0.083 0.039 3140 3642 2818 2913 2723 0 0 0 0 1 0 25.98 25.55 24.71

4142 0.79 106.4 3139 3642 2913 2726 506.9 -4.3 215 4207 0.10 1.95 58.08 0.690 11270 0.093 0.021 3199 2248 2555 2646 2465 0 0 0 0 0 0 25.79 25.88 24.72

4499 0.82 119.5 3199 2248 2646 2449 493.1 6.4 233 4516 0.00 2.03 11.27 0.677 8708 0.000 0.034 3208 888 2502 2599 2405 0 0 0 0 0 0 28.83 25.95 25.24

4700 0.83 125.6 3208 888 2598 2398 478.1 8.0 242 4714 0.08 1.95 4.82 0.610 13318 0.209 0.024 3197 2256 2479 2577 2382 0 0 0 0 0 0 25.89 26.12 25.11

5011 0.84 129.6 3196 2256 2577 2381 452.6 8.4 258 5024 0.00 2.08 4.40 0.584 8452 0.000 0.040 3196 3628 2463 2561 2366 0 0 0 0 0 0 28.83 26.19 25.14

5217 0.84 129.6 3196 3628 2561 2367 432.9 11.2 267 5225 0.00 1.92 0.00 0.000 1030 0.000 0.021 3204 2262 2463 2561 2366 0 0 0 0 0 0 28.83 26.30 28.83

5521 0.85 135.3 3204 2262 2561 2363 404.7 8.0 283 5538 0.00 2.08 7.40 0.647 8452 0.000 0.039 3204 3625 2437 2537 2338 0 0 1 0 0 0 28.83 26.20 25.44

5705 0.85 136.0 3203 3625 2537 2334 389.3 9.1 291 5713 0.00 1.95 0.00 0.000 1030 0.000 0.021 3211 2230 2435 2537 2334 0 0 0 0 0 0 28.83 26.32 28.83

6013 0.87 144.8 3211 2231 2537 2332 363.2 7.4 307 6029 0.00 2.00 9.70 0.631 8708 0.000 0.034 3221 880 2399 2499 2299 0 0 0 0 0 0 28.83 26.22 25.49

6080 0.89 153.4 3221 880 2500 2296 358.2 7.4 310 6096 0.00 1.95 9.20 0.623 9222 0.000 0.025 3221 2241 2364 2465 2264 0 0 0 0 0 0 28.83 26.23 25.39

6406 0.91 163.0 3221 2240 2465 2255 331.8 7.2 326 6425 0.00 0.00 9.30 0.614 8198 0.000 0.000 3221 2240 2324 2428 2221 0 0 0 0 0 0 28.83 28.83 25.44

6725 0.91 165.1 3221 2240 2428 2214 304.0 8.8 342 6726 0.00 0.00 0.00 0.000 6 0.000 0.000 3221 2241 2321 2428 2214 0 0 0 0 0 0 28.83 28.83 28.83

7024 0.91 165.1 3220 2240 2428 2212 273.4 10.3 357 7030 0.00 2.03 0.00 0.000 516 0.000 0.036 3230 874 2320 2428 2212 0 0 0 0 0 0 28.83 26.16 28.83

7266 0.92 168.8 3230 874 2428 2212 252.8 8.5 368 7279 0.00 1.95 4.35 0.514 9222 0.000 0.025 3230 2242 2303 2408 2198 0 0 0 0 0 0 28.83 26.30 25.27

7577 0.92 168.8 3230 2242 2408 2197 225.7 9.3 384 7583 0.00 2.05 0.00 0.000 260 0.000 0.039 3230 3634 2303 2408 2198 0 0 0 0 0 0 28.83 26.19 28.83

7775 0.92 168.8 3233 3634 2408 2198 199.8 14.8 393 7782 0.00 1.95 0.00 0.000 1030 0.000 0.021 3234 2241 2301 2408 2194 0 0 0 0 0 0 28.83 26.39 28.83

8092 0.97 194.0 3233 2241 2408 2197 176.3 3.9 409 8121 0.00 2.00 22.85 0.505 8708 0.000 0.033 3243 873 2198 2304 2093 0 0 0 0 0 0 28.83 26.16 25.56

8184 0.99 205.8 3243 878 2304 2089 170.3 6.7 413 8200 0.00 1.95 11.05 0.508 9222 0.000 0.024 3243 2242 2152 2258 2046 0 0 0 0 0 0 28.83 26.18 25.45

8510 1.01 212.0 3243 2242 2257 2034 145.9 7.9 429 8523 0.00 2.12 4.62 0.476 8452 0.000 0.039 3243 3636 2127 2236 2018 0 0 0 0 0 0 28.83 26.20 25.25

8702 1.04 228.9 3243 3636 2235 2017 130.4 5.7 438 8725 0.00 1.95 15.90 0.469 9222 0.000 0.021 3246 2216 2055 2164 1947 0 0 0 0 0 0 28.83 26.32 25.54

9024 1.09 255.8 3245 2217 2164 1938 123.3 3.5 454 9053 0.10 1.95 21.52 0.446 10756 0.098 0.035 3312 896 1946 2057 1835 0 0 0 0 0 0 26.37 26.09 25.53

9156 1.13 273.5 3312 896 2056 1832 116.5 5.5 460 9181 0.12 1.92 14.57 0.441 13318 0.180 0.024 3284 2251 1873 1984 1762 0 0 0 0 0 0 25.79 26.16 25.47

9476 1.13 274.4 3284 2251 1983 1756 93.2 9.1 476 9481 0.00 2.03 0.00 0.000 260 0.000 0.037 3283 3625 1869 1983 1756 0 0 0 0 0 0 28.83 26.13 28.83

9619 1.13 275.5 3283 3625 1982 1755 81.7 9.0 482 9627 0.00 1.90 0.00 0.000 1030 0.000 0.021 3283 2275 1868 1982 1755 0 0 0 0 0 0 28.83 26.30 28.83

9924 1.17 293.6 3283 2275 1982 1755 63.2 5.4 498 9946 0.00 0.00 15.38 0.389 8454 0.000 0.000 3283 2276 1790 1904 1677 0 0 0 0 0 0 28.83 28.83 25.71

10245 1.23 323.7 3283 2274 1904 1674 43.9 2.8 520 10276 0.12 2.03 23.35 0.360 10500 0.085 0.037 3358 3619 1667 1778 1557 0 0 1 0 0 0 26.42 26.15 25.70

10520 1.23 323.7 3358 3618 1777 1553 14.5 11.2 554 10529 0.20 1.92 0.00 0.000 5126 0.187 0.021 3316 2249 1664 1776 1553 0 0 0 0 0 0 25.77 26.31 28.83

10675 end climb: SURFACE_DEPTH_REACHED

state 10675 begin surface coast

10716 end surface coast: CONTROL_FINISHED_OK

state 10716 begin surface

ID	177	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2375	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	345	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2240	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	500	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	55	ALTIM_SENSITIVITY	0
D_ABORT	650	SM_CC	619.87311	R_STBD_OVSHOOT	81	XPDR_VALID	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	400	XPDR_INHIBIT	90
D_BOOST	20	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	465	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	3	VBD_MAX	3960	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2992	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	180	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0020000001	DEVICE5	-1
T_MISSION	230	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	50	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	-16982.373	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-5	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
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	159	MINV_24V	22	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3950	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	200	C_PITCH	2925	FG_AHR_10V	0	SEABIRD_T_G	0.0044109048
COURSE_BIAS	0	PITCH_DBAND	0.050000001	FG_AHR_24V	0	SEABIRD_T_H	0.00065266038
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7513828e-05
SPEED_FACTOR	1	P_OVSHOOT	0.029999999	PRESSURE_YINT	-43.106712	SEABIRD_T_J	3.0466049e-06
RHO	1.0275	PITCH_GAIN	25	PRESSURE_SLOPE	0.000115925	SEABIRD_C_G	-9.9740562
MASS	52151	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1339458
NAV_MODE	2	PITCH_AD_RATE	170	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0018908759
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002126007
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	0.001	ROLL_MIN	161	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	9.9999997e-06	ROLL_MAX	3723	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	240513,143436,1844.442,12157.354,35,2.0,35,-2.1	TGT_NAME	PICKUP
_CALLS	2	TGT_LATLONG	1845.000,12200.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-1.50	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	240513,144056,1844.378,12157.188,76,2.4,95,-2.1	MHEAD_RNG_PITCHd_Wd	81.1,5065,-14.5,-9.259,-14.98,481
SPEED_LIMITS	0.160,0.759	D_GRID	1026

FINISH	-0.3,1.020926	_10V_AH	10.3,40.381
SM_CCo	10736,110.15,0.048,0,0,464,619.87	FG_AHR_24Vo	0.000
SM_GC	-1.48,8.68,0.15,110.15,0.069,0.066,0.048,137,2398,464,-8.62,-1.87,619.87,0,0,0,0,0,0,26.25,26.45,26.14	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1837.32,12204.18,240513,141459	MEM	320600
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	20115,589
HUMID	45.94	CAP_FILE_SIZE	320013,0
INTERNAL_PRESSURE	9.71717	CFSIZE	260034560,208785408
TCM_TEMP	25.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
XPDR_PINGS	62	CURRENT	0.178,261.2,1
SC_FREEKB	3888064	GPS	240513,174545,1844.418,12157.043,133,2.7,152,-2.1
_24V_AH	24.7,43.389

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	244	131.21	nil	0	0	0.00
Roll_motor	74	65	121.71	nil	0	0	0.00
VBD_pump_during_apogee	321	805	6386.92	nil	0	0	0.00
VBD_pump_during_surface	110	48	131.12	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	10696	10	2868.59
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	15	420	160.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	99	30	31.34
TT8	2537	17	449.83
LPSleep	5932	2	133.81
TT8_Active	591	17	104.77
TT8_Sampling	1589	43	710.87
TT8_CF8	376	54	212.09
TT8_Kalman	0	0	0.00
Analog_circuits	1385	15	214.13
GPS_charging	0	0	0.00
Compass	1452	7	112.06
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
20	-0.64	-28.9	154	2412	510	453	0.0	0.0	0	119	0.00	0.00	-94.18	0.000	16386	0.000	0.000	154	2413	2968	3004	2932	0	0	0	0	0	0	28.83	28.83	28.83
123	-0.64	-28.9	154	2413	3004	2933	3.7	-14.0	13	148	10.82	1.90	-2.30	0.000	18692	0.245	0.047	2705	3695	3113	3169	3058	0	0	0	0	0	0	25.53	26.22	26.51
333	-0.64	-28.9	2705	3695	3171	3057	78.9	-28.8	29	338	0.00	1.88	0.00	0.000	1030	0.000	0.029	2705	2317	3113	3171	3056	0	0	0	0	0	0	28.83	26.37	28.83
647	-0.64	-28.9	2704	2316	3173	3055	144.2	-14.9	45	649	0.08	0.00	0.00	0.000	2054	0.201	0.000	2717	2316	3114	3173	3055	0	0	0	0	0	0	26.30	28.83	28.83
948	-0.64	-28.9	2717	2316	3174	3055	182.1	-13.9	60	954	0.00	2.03	0.00	0.000	260	0.000	0.038	2710	3687	3114	3174	3054	0	0	0	0	0	0	28.83	26.28	28.83
972	-0.64	-28.9	2710	3687	3173	3055	185.6	-14.2	61	978	0.00	1.85	0.00	0.000	1030	0.000	0.019	2710	2324	3114	3174	3054	0	0	0	0	0	0	28.83	26.51	28.83
1300	-0.64	-28.9	2710	2323	3174	3053	221.3	-10.4	77	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	2711	2323	3112	3174	3051	0	0	0	0	0	0	28.83	28.83	28.83
1598	-0.64	-28.9	2710	2323	3174	3049	257.1	-11.7	92	1599	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2323	3111	3175	3048	0	0	0	0	0	0	28.83	28.83	28.83
1897	-0.64	-28.9	2710	2324	3174	3044	292.0	-11.9	107	1904	0.00	1.92	0.00	0.000	516	0.000	0.029	2710	969	3108	3174	3043	0	0	0	0	0	0	28.83	26.32	28.83
2035	-0.64	-28.9	2710	969	3174	3040	307.9	-12.3	113	2042	0.08	1.98	0.00	0.000	3078	0.196	0.026	2716	2351	3109	3174	3044	0	0	0	0	0	0	26.16	26.36	28.83
2352	-0.64	-28.9	2718	2351	3174	3035	342.5	-10.5	129	2358	0.00	2.03	0.00	0.000	260	0.000	0.041	2713	3707	3104	3174	3035	0	0	0	0	0	0	28.83	26.23	28.83
2371	-0.64	-28.9	2713	3707	3174	3035	342.5	-10.5	129	2379	0.00	1.90	0.00	0.000	1030	0.000	0.020	2713	2310	3104	3174	3035	0	0	0	0	0	0	28.83	26.51	28.83
2677	-0.64	-28.9	2713	2310	3174	3032	377.1	-9.9	145	2678	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2310	3102	3174	3030	0	0	0	0	0	0	28.83	28.83	28.83
2978	-0.65	-34.8	2713	2310	3174	3025	403.5	-8.0	160	2984	0.00	2.08	0.00	0.000	260	0.000	0.041	2705	3703	3099	3174	3024	0	0	0	0	0	0	28.83	26.22	28.83
3019	-0.66	-41.2	2705	3703	3174	3024	405.5	-7.9	161	3028	0.00	1.88	0.00	0.000	1030	0.000	0.021	2710	2325	3099	3174	3024	0	0	0	0	0	0	28.83	26.49	28.83
3325	-0.67	-42.7	2705	2325	3174	3020	433.2	-8.9	177	3331	0.00	1.85	0.00	0.000	516	0.000	0.030	2705	1022	3096	3174	3019	0	0	0	0	0	0	28.83	26.28	28.83
3359	-0.67	-42.9	2705	1022	3173	3018	435.9	-9.2	178	3365	0.00	1.92	0.00	0.000	1030	0.000	0.028	2700	2372	3095	3173	3018	0	0	0	0	0	0	28.83	26.32	28.83
3674	-0.67	-42.9	2699	2372	3172	3014	470.5	-11.0	194	3680	0.00	2.00	0.00	0.000	260	0.000	0.042	2692	3717	3093	3172	3014	0	0	0	0	0	0	28.83	26.19	28.83
3812	-0.67	-42.9	2692	3717	3171	3014	484.9	-11.4	200	3818	0.08	1.85	0.00	0.000	3078	0.178	0.021	2707	2352	3092	3171	3014	0	0	0	0	0	0	26.23	26.48	28.83
3964	end dive: TARGET_DEPTH_EXCEEDED
state	3964	begin apogee
3970	-0.20	0.0	2707	2352	3170	3013	500.8	-9.1	208	4008	0.47	0.00	30.17	0.545	10246	0.134	0.000	2859	2352	2992	3081	2903	0	0	0	0	1	0	25.71	28.83	25.03
4012	end apogee: CONTROL_FINISHED_OK
state	4013	begin climb
4015	0.67	42.9	2857	2351	3081	2908	502.4	0.0	209	4073	0.77	2.05	43.05	0.806	10500	0.083	0.039	3140	3642	2818	2913	2723	0	0	0	0	1	0	25.98	25.55	24.71
4142	0.79	106.4	3139	3642	2913	2726	506.9	-4.3	215	4207	0.10	1.95	58.08	0.690	11270	0.093	0.021	3199	2248	2555	2646	2465	0	0	0	0	0	0	25.79	25.88	24.72
4499	0.82	119.5	3199	2248	2646	2449	493.1	6.4	233	4516	0.00	2.03	11.27	0.677	8708	0.000	0.034	3208	888	2502	2599	2405	0	0	0	0	0	0	28.83	25.95	25.24
4700	0.83	125.6	3208	888	2598	2398	478.1	8.0	242	4714	0.08	1.95	4.82	0.610	13318	0.209	0.024	3197	2256	2479	2577	2382	0	0	0	0	0	0	25.89	26.12	25.11
5011	0.84	129.6	3196	2256	2577	2381	452.6	8.4	258	5024	0.00	2.08	4.40	0.584	8452	0.000	0.040	3196	3628	2463	2561	2366	0	0	0	0	0	0	28.83	26.19	25.14
5217	0.84	129.6	3196	3628	2561	2367	432.9	11.2	267	5225	0.00	1.92	0.00	0.000	1030	0.000	0.021	3204	2262	2463	2561	2366	0	0	0	0	0	0	28.83	26.30	28.83
5521	0.85	135.3	3204	2262	2561	2363	404.7	8.0	283	5538	0.00	2.08	7.40	0.647	8452	0.000	0.039	3204	3625	2437	2537	2338	0	0	1	0	0	0	28.83	26.20	25.44
5705	0.85	136.0	3203	3625	2537	2334	389.3	9.1	291	5713	0.00	1.95	0.00	0.000	1030	0.000	0.021	3211	2230	2435	2537	2334	0	0	0	0	0	0	28.83	26.32	28.83
6013	0.87	144.8	3211	2231	2537	2332	363.2	7.4	307	6029	0.00	2.00	9.70	0.631	8708	0.000	0.034	3221	880	2399	2499	2299	0	0	0	0	0	0	28.83	26.22	25.49
6080	0.89	153.4	3221	880	2500	2296	358.2	7.4	310	6096	0.00	1.95	9.20	0.623	9222	0.000	0.025	3221	2241	2364	2465	2264	0	0	0	0	0	0	28.83	26.23	25.39
6406	0.91	163.0	3221	2240	2465	2255	331.8	7.2	326	6425	0.00	0.00	9.30	0.614	8198	0.000	0.000	3221	2240	2324	2428	2221	0	0	0	0	0	0	28.83	28.83	25.44
6725	0.91	165.1	3221	2240	2428	2214	304.0	8.8	342	6726	0.00	0.00	0.00	0.000	6	0.000	0.000	3221	2241	2321	2428	2214	0	0	0	0	0	0	28.83	28.83	28.83
7024	0.91	165.1	3220	2240	2428	2212	273.4	10.3	357	7030	0.00	2.03	0.00	0.000	516	0.000	0.036	3230	874	2320	2428	2212	0	0	0	0	0	0	28.83	26.16	28.83
7266	0.92	168.8	3230	874	2428	2212	252.8	8.5	368	7279	0.00	1.95	4.35	0.514	9222	0.000	0.025	3230	2242	2303	2408	2198	0	0	0	0	0	0	28.83	26.30	25.27
7577	0.92	168.8	3230	2242	2408	2197	225.7	9.3	384	7583	0.00	2.05	0.00	0.000	260	0.000	0.039	3230	3634	2303	2408	2198	0	0	0	0	0	0	28.83	26.19	28.83
7775	0.92	168.8	3233	3634	2408	2198	199.8	14.8	393	7782	0.00	1.95	0.00	0.000	1030	0.000	0.021	3234	2241	2301	2408	2194	0	0	0	0	0	0	28.83	26.39	28.83
8092	0.97	194.0	3233	2241	2408	2197	176.3	3.9	409	8121	0.00	2.00	22.85	0.505	8708	0.000	0.033	3243	873	2198	2304	2093	0	0	0	0	0	0	28.83	26.16	25.56
8184	0.99	205.8	3243	878	2304	2089	170.3	6.7	413	8200	0.00	1.95	11.05	0.508	9222	0.000	0.024	3243	2242	2152	2258	2046	0	0	0	0	0	0	28.83	26.18	25.45
8510	1.01	212.0	3243	2242	2257	2034	145.9	7.9	429	8523	0.00	2.12	4.62	0.476	8452	0.000	0.039	3243	3636	2127	2236	2018	0	0	0	0	0	0	28.83	26.20	25.25
8702	1.04	228.9	3243	3636	2235	2017	130.4	5.7	438	8725	0.00	1.95	15.90	0.469	9222	0.000	0.021	3246	2216	2055	2164	1947	0	0	0	0	0	0	28.83	26.32	25.54
9024	1.09	255.8	3245	2217	2164	1938	123.3	3.5	454	9053	0.10	1.95	21.52	0.446	10756	0.098	0.035	3312	896	1946	2057	1835	0	0	0	0	0	0	26.37	26.09	25.53
9156	1.13	273.5	3312	896	2056	1832	116.5	5.5	460	9181	0.12	1.92	14.57	0.441	13318	0.180	0.024	3284	2251	1873	1984	1762	0	0	0	0	0	0	25.79	26.16	25.47
9476	1.13	274.4	3284	2251	1983	1756	93.2	9.1	476	9481	0.00	2.03	0.00	0.000	260	0.000	0.037	3283	3625	1869	1983	1756	0	0	0	0	0	0	28.83	26.13	28.83
9619	1.13	275.5	3283	3625	1982	1755	81.7	9.0	482	9627	0.00	1.90	0.00	0.000	1030	0.000	0.021	3283	2275	1868	1982	1755	0	0	0	0	0	0	28.83	26.30	28.83
9924	1.17	293.6	3283	2275	1982	1755	63.2	5.4	498	9946	0.00	0.00	15.38	0.389	8454	0.000	0.000	3283	2276	1790	1904	1677	0	0	0	0	0	0	28.83	28.83	25.71
10245	1.23	323.7	3283	2274	1904	1674	43.9	2.8	520	10276	0.12	2.03	23.35	0.360	10500	0.085	0.037	3358	3619	1667	1778	1557	0	0	1	0	0	0	26.42	26.15	25.70
10520	1.23	323.7	3358	3618	1777	1553	14.5	11.2	554	10529	0.20	1.92	0.00	0.000	5126	0.187	0.021	3316	2249	1664	1776	1553	0	0	0	0	0	0	25.77	26.31	28.83
10675	end climb: SURFACE_DEPTH_REACHED
state	10675	begin surface coast
10716	end surface coast: CONTROL_FINISHED_OK
state	10716	begin surface