Glider dive log

OKMC Mar13 * SG177 * Dive index * Mission links * Dive 347 * 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 347 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 63 ALTIM_SENSITIVITY 0

D_ABORT 650 SM_CC 619.87311 R_STBD_OVSHOOT 61 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 -16984.893 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 -16984.893

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 63 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 61 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 347 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 240513,202626,1844.334,12156.765,33,4.1,52,-2.1 TGT_NAME PICKUP

_CALLS 1 TGT_LATLONG 1845.000,12200.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -1.54 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 240513,203505,1844.395,12156.504,44,1.7,55,-2.1 MHEAD_RNG_PITCHd_Wd 79.8,6233,-6.3,-9.259,-6.96,3220

SPEED_LIMITS 0.160,0.759 D_GRID 1078

Post-dive calculations and measurements:

FINISH 0.0,1.020971 _10V_AH 10.2,40.537

SM_CCo 8803,82.93,0.050,0,0,464,619.87 FG_AHR_24Vo 0.000

SM_GC -1.44,8.38,0.20,82.93,0.057,0.056,0.050,142,2417,464,-8.61,-1.39,619.87,0,0,0,0,0,0,26.17,26.46,26.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1837.32,12155.98,240513,171712 MEM 320600

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 16782,493

HUMID 49.72 CAP_FILE_SIZE 248845,0

INTERNAL_PRESSURE 9.66834 CFSIZE 260034560,208658432

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0

XPDR_PINGS 20 CURRENT 0.487,249.2,1

SC_FREEKB 3887296 GPS 240513,230733,1843.860,12155.702,171,3.1,190,-2.1

_24V_AH 24.6,43.570

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 229 118.28 nil 0 0 0.00

Roll_motor 74 137 253.63 nil 0 0 0.00

VBD_pump_during_apogee 471 693 8032.26 nil 0 0 0.00

VBD_pump_during_surface 82 49 101.44 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 8797 10 2291.96

Iridium_during_xfer 281 117 815.97 nil 0 0 0.00

Transponder_ping 5 420 51.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 57 30 18.05

TT8 1906 17 334.59

LPSleep 4935 2 110.24

TT8_Active 658 17 115.53

TT8_Sampling 1496 43 662.73

TT8_CF8 404 54 225.53

TT8_Kalman 0 0 0.00

Analog_circuits 1626 15 248.89

GPS_charging 0 0 0.00

Compass 1118 7 85.44

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 -194.6 127 2391 483 442 0.0 0.0 0 119 0.00 0.00 -94.43 0.000 16386 0.000 0.000 127 2391 2990 3028 2953 0 0 0 0 0 0 28.83 28.83 28.83

123 -0.64 -194.6 127 2391 3027 2954 4.3 -15.9 13 156 10.48 1.98 -11.38 0.000 18692 0.230 0.046 2703 3706 3789 3878 3700 0 0 0 0 0 0 25.47 26.13 26.50

258 -0.64 -194.6 2703 3706 3878 3701 58.8 -28.5 26 265 0.08 1.88 0.00 0.000 3078 0.198 0.019 2716 2332 3789 3878 3701 0 0 0 0 0 0 26.04 26.29 28.83

586 -0.64 -194.6 2716 2330 3878 3701 140.4 -22.2 42 593 0.00 1.88 0.00 0.000 516 0.000 0.028 2716 1012 3789 3878 3700 0 0 0 0 0 0 28.83 26.18 28.83

634 -0.64 -194.6 2716 1012 3878 3701 150.0 -19.9 44 641 0.00 1.90 0.00 0.000 1030 0.000 0.026 2710 2367 3789 3878 3700 0 0 0 0 0 0 28.83 26.32 28.83

961 -0.64 -194.6 2710 2367 3880 3701 203.7 -16.1 60 967 0.00 1.92 0.00 0.000 516 0.000 0.028 2710 1014 3790 3880 3701 0 0 0 0 0 0 28.83 26.31 28.83

989 -0.64 -194.6 2710 1014 3880 3700 208.0 -16.4 61 996 0.00 1.92 0.00 0.000 1030 0.000 0.026 2704 2375 3790 3880 3701 0 0 0 0 0 0 28.83 26.36 28.83

1311 -0.64 -194.6 2704 2376 3880 3701 257.6 -13.7 77 1317 0.00 1.98 0.00 0.000 260 0.000 0.041 2700 3717 3790 3880 3701 0 0 0 0 0 0 28.83 26.26 28.83

1358 -0.64 -194.6 2700 3717 3881 3700 263.7 -13.2 79 1365 0.03 1.88 0.00 0.000 3078 0.109 0.019 2727 2330 3790 3880 3701 0 0 0 0 0 0 26.20 26.51 28.83

1686 -0.64 -194.6 2726 2328 3880 3698 300.6 -11.5 95 1691 0.00 1.80 0.00 0.000 516 0.000 0.028 2727 1053 3788 3880 3697 0 0 0 0 0 0 28.83 26.32 28.83

1720 -0.64 -194.6 2726 1052 3880 3697 303.5 -11.3 96 1726 0.00 1.88 0.00 0.000 1030 0.000 0.028 2726 2376 3788 3881 3696 0 0 0 0 0 0 28.83 26.35 28.83

2035 -0.64 -194.6 2727 2376 3880 3690 341.7 -12.2 112 2041 0.00 1.98 0.00 0.000 260 0.000 0.042 2721 3710 3785 3881 3690 0 0 0 0 0 0 28.83 26.22 28.83

2065 -0.64 -194.6 2720 3710 3880 3690 344.6 -12.0 113 2070 0.00 1.75 0.00 0.000 1030 0.000 0.021 2720 2370 3784 3880 3689 0 0 0 0 0 0 28.83 26.52 28.83

2386 -0.64 -194.6 2720 2370 3880 3683 386.2 -13.9 129 2391 0.00 1.85 0.00 0.000 516 0.000 0.029 2721 1073 3781 3880 3683 0 0 0 0 0 0 28.83 26.29 28.83

2432 -0.64 -194.6 2720 1073 3880 3682 392.6 -13.9 131 2438 0.00 1.88 0.00 0.000 1030 0.000 0.028 2717 2376 3781 3880 3682 0 0 0 0 0 0 28.83 26.34 28.83

2759 -0.64 -194.6 2717 2377 3880 3676 432.3 -10.9 147 2765 0.00 1.98 0.00 0.000 260 0.000 0.042 2717 3707 3778 3880 3676 0 0 0 0 0 0 28.83 26.20 28.83

2814 -0.64 -194.6 2717 3707 3880 3676 437.3 -10.8 149 2820 0.00 1.75 0.00 0.000 1030 0.000 0.021 2716 2396 3778 3880 3676 0 0 0 0 0 0 28.83 26.49 28.83

3131 -0.64 -194.6 2717 2396 3876 3678 467.7 -7.9 165 3136 0.00 1.92 0.00 0.000 516 0.000 0.029 2717 1049 3774 3875 3674 0 0 0 0 0 0 28.83 26.25 28.83

3213 -0.64 -194.6 2717 1049 3874 3674 472.6 -7.3 168 3222 0.00 1.90 0.00 0.000 1030 0.000 0.028 2713 2381 3774 3874 3674 0 0 0 0 0 0 28.83 26.33 28.83

3516 end dive: TARGET_DEPTH_EXCEEDED

state 3516 begin apogee

3523 -0.20 0.0 2714 2270 3871 3670 501.9 -10.2 184 3681 0.45 0.00 153.93 0.693 10246 0.113 0.000 2862 2269 2991 3100 2882 0 0 0 0 0 0 25.84 28.83 24.62

3685 end apogee: CONTROL_FINISHED_OK

state 3686 begin climb

3688 0.64 194.6 2862 2269 3098 2874 509.7 0.0 191 3859 0.75 2.17 157.60 0.672 10500 0.070 0.041 3137 3629 2190 2320 2061 0 0 1 0 0 0 25.32 25.14 24.56

3916 0.67 209.5 3137 3629 2317 2050 502.8 8.8 201 3939 0.00 2.00 12.23 0.662 9222 0.000 0.021 3147 2250 2131 2263 2000 0 0 0 0 0 0 28.83 25.67 24.78

4238 0.67 209.5 3147 2250 2262 1990 466.7 11.8 217 4244 0.00 2.05 0.00 0.000 516 0.000 0.037 3156 874 2126 2262 1990 0 0 0 0 0 0 28.83 25.98 28.83

4305 0.67 209.5 3156 874 2261 1986 458.7 11.6 220 4313 0.08 1.98 0.00 0.000 5126 0.187 0.024 3142 2249 2125 2261 1990 0 0 0 0 0 0 25.93 26.12 28.83

4633 0.67 209.5 3143 2249 2260 1985 423.5 10.3 236 4634 0.00 0.00 0.00 0.000 6 0.000 0.000 3143 2249 2122 2260 1985 0 0 0 0 0 0 28.83 28.83 28.83

4932 0.67 209.5 3142 2248 2257 1983 393.7 9.5 251 4938 0.00 2.08 0.00 0.000 260 0.000 0.041 3142 3632 2120 2257 1983 0 0 0 0 0 0 28.83 26.13 28.83

4973 0.67 209.5 3142 3632 2255 1983 391.3 9.6 252 4981 0.00 1.95 0.00 0.000 1030 0.000 0.021 3145 2240 2119 2255 1983 0 0 0 0 0 0 28.83 26.33 28.83

5278 0.67 209.5 3145 2240 2255 1981 357.4 10.4 268 5284 0.00 2.00 0.00 0.000 516 0.000 0.038 3155 873 2118 2254 1982 0 0 0 0 0 0 28.83 26.13 28.83

5334 0.67 209.5 3154 873 2254 1981 352.3 10.9 270 5340 0.00 1.95 0.00 0.000 1030 0.000 0.025 3155 2243 2117 2254 1981 0 0 0 0 0 0 28.83 26.28 28.83

5650 0.67 209.5 3154 2243 2252 1980 313.6 12.8 286 5656 0.00 2.05 0.00 0.000 516 0.000 0.037 3163 871 2116 2252 1980 0 0 0 0 0 0 28.83 26.12 28.83

5706 0.67 209.5 3162 871 2254 1980 307.2 13.4 288 5712 0.10 1.95 0.00 0.000 5126 0.177 0.025 3141 2244 2116 2252 1980 0 0 0 0 0 0 25.99 26.29 28.83

6025 0.67 209.5 3141 2244 2250 1979 270.1 9.6 304 6031 0.00 2.08 0.00 0.000 260 0.000 0.040 3141 3632 2114 2250 1978 0 0 0 0 0 0 28.83 26.15 28.83

6052 0.67 209.5 3141 3632 2249 1979 267.3 9.6 305 6059 0.00 1.95 0.00 0.000 1030 0.000 0.021 3145 2240 2113 2249 1978 0 0 0 0 0 0 28.83 26.37 28.83

6376 0.69 219.4 3145 2239 2248 1979 239.3 8.9 321 6382 0.00 0.00 4.18 0.492 8198 0.000 0.000 3145 2239 2096 2228 1964 0 0 0 0 0 0 28.83 28.83 25.01

6674 0.78 264.0 3145 2239 2229 1967 211.5 7.8 336 6723 0.10 2.17 40.58 0.519 10500 0.098 0.039 3203 3628 1912 2039 1785 0 0 0 0 0 0 26.48 25.96 25.37

6761 0.78 264.0 3203 3628 2035 1780 203.0 10.7 339 6772 0.15 1.98 0.00 0.000 5126 0.184 0.021 3174 2243 1907 2035 1780 0 0 0 0 0 0 25.60 26.05 28.83

7068 0.78 264.0 3174 2242 2034 1775 168.1 9.9 355 7075 0.00 2.10 0.00 0.000 260 0.000 0.039 3174 3629 1904 2034 1775 0 0 0 0 0 0 28.83 26.03 28.83

7103 0.78 265.1 3173 3629 2029 1773 165.9 9.2 356 7109 0.00 1.98 0.00 0.000 1030 0.000 0.021 3175 2251 1903 2032 1774 0 0 0 0 0 0 28.83 26.19 28.83

7418 1.04 396.6 3175 2251 2032 1772 148.8 5.1 372 7534 0.22 2.10 102.60 0.448 10756 0.060 0.036 3301 858 1367 1474 1260 0 0 0 0 0 0 26.34 25.58 25.08

7614 1.04 396.6 3300 858 1470 1256 121.8 17.9 380 7623 0.15 2.00 0.00 0.000 5126 0.171 0.024 3264 2240 1362 1470 1255 0 0 0 0 0 0 25.44 25.83 28.83

7920 1.04 396.6 3264 2241 1469 1253 79.8 11.4 396 7926 0.00 2.10 0.00 0.000 260 0.000 0.038 3264 3641 1358 1469 1248 0 0 0 0 0 0 28.83 25.99 28.83

8112 1.04 396.6 3264 3641 1466 1246 58.9 11.4 405 8118 0.00 2.00 0.00 0.000 1030 0.000 0.021 3269 2232 1356 1466 1246 0 0 0 0 0 0 28.83 26.24 28.83

8423 1.05 400.4 3268 2231 1466 1245 31.6 9.1 431 8430 0.00 0.00 0.00 0.000 6 0.000 0.000 3269 2230 1355 1466 1245 0 0 0 0 0 0 28.83 28.83 28.83

8743 end climb: SURFACE_DEPTH_REACHED

state 8743 begin surface coast

8784 end surface coast: CONTROL_FINISHED_OK

state 8784 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	347	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	63	ALTIM_SENSITIVITY	0
D_ABORT	650	SM_CC	619.87311	R_STBD_OVSHOOT	61	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	-16984.893	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	240513,202626,1844.334,12156.765,33,4.1,52,-2.1	TGT_NAME	PICKUP
_CALLS	1	TGT_LATLONG	1845.000,12200.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-1.54	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	240513,203505,1844.395,12156.504,44,1.7,55,-2.1	MHEAD_RNG_PITCHd_Wd	79.8,6233,-6.3,-9.259,-6.96,3220
SPEED_LIMITS	0.160,0.759	D_GRID	1078

FINISH	0.0,1.020971	_10V_AH	10.2,40.537
SM_CCo	8803,82.93,0.050,0,0,464,619.87	FG_AHR_24Vo	0.000
SM_GC	-1.44,8.38,0.20,82.93,0.057,0.056,0.050,142,2417,464,-8.61,-1.39,619.87,0,0,0,0,0,0,26.17,26.46,26.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1837.32,12155.98,240513,171712	MEM	320600
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	16782,493
HUMID	49.72	CAP_FILE_SIZE	248845,0
INTERNAL_PRESSURE	9.66834	CFSIZE	260034560,208658432
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
XPDR_PINGS	20	CURRENT	0.487,249.2,1
SC_FREEKB	3887296	GPS	240513,230733,1843.860,12155.702,171,3.1,190,-2.1
_24V_AH	24.6,43.570

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	229	118.28	nil	0	0	0.00
Roll_motor	74	137	253.63	nil	0	0	0.00
VBD_pump_during_apogee	471	693	8032.26	nil	0	0	0.00
VBD_pump_during_surface	82	49	101.44	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	8797	10	2291.96
Iridium_during_xfer	281	117	815.97	nil	0	0	0.00
Transponder_ping	5	420	51.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	57	30	18.05
TT8	1906	17	334.59
LPSleep	4935	2	110.24
TT8_Active	658	17	115.53
TT8_Sampling	1496	43	662.73
TT8_CF8	404	54	225.53
TT8_Kalman	0	0	0.00
Analog_circuits	1626	15	248.89
GPS_charging	0	0	0.00
Compass	1118	7	85.44
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	-194.6	127	2391	483	442	0.0	0.0	0	119	0.00	0.00	-94.43	0.000	16386	0.000	0.000	127	2391	2990	3028	2953	0	0	0	0	0	0	28.83	28.83	28.83
123	-0.64	-194.6	127	2391	3027	2954	4.3	-15.9	13	156	10.48	1.98	-11.38	0.000	18692	0.230	0.046	2703	3706	3789	3878	3700	0	0	0	0	0	0	25.47	26.13	26.50
258	-0.64	-194.6	2703	3706	3878	3701	58.8	-28.5	26	265	0.08	1.88	0.00	0.000	3078	0.198	0.019	2716	2332	3789	3878	3701	0	0	0	0	0	0	26.04	26.29	28.83
586	-0.64	-194.6	2716	2330	3878	3701	140.4	-22.2	42	593	0.00	1.88	0.00	0.000	516	0.000	0.028	2716	1012	3789	3878	3700	0	0	0	0	0	0	28.83	26.18	28.83
634	-0.64	-194.6	2716	1012	3878	3701	150.0	-19.9	44	641	0.00	1.90	0.00	0.000	1030	0.000	0.026	2710	2367	3789	3878	3700	0	0	0	0	0	0	28.83	26.32	28.83
961	-0.64	-194.6	2710	2367	3880	3701	203.7	-16.1	60	967	0.00	1.92	0.00	0.000	516	0.000	0.028	2710	1014	3790	3880	3701	0	0	0	0	0	0	28.83	26.31	28.83
989	-0.64	-194.6	2710	1014	3880	3700	208.0	-16.4	61	996	0.00	1.92	0.00	0.000	1030	0.000	0.026	2704	2375	3790	3880	3701	0	0	0	0	0	0	28.83	26.36	28.83
1311	-0.64	-194.6	2704	2376	3880	3701	257.6	-13.7	77	1317	0.00	1.98	0.00	0.000	260	0.000	0.041	2700	3717	3790	3880	3701	0	0	0	0	0	0	28.83	26.26	28.83
1358	-0.64	-194.6	2700	3717	3881	3700	263.7	-13.2	79	1365	0.03	1.88	0.00	0.000	3078	0.109	0.019	2727	2330	3790	3880	3701	0	0	0	0	0	0	26.20	26.51	28.83
1686	-0.64	-194.6	2726	2328	3880	3698	300.6	-11.5	95	1691	0.00	1.80	0.00	0.000	516	0.000	0.028	2727	1053	3788	3880	3697	0	0	0	0	0	0	28.83	26.32	28.83
1720	-0.64	-194.6	2726	1052	3880	3697	303.5	-11.3	96	1726	0.00	1.88	0.00	0.000	1030	0.000	0.028	2726	2376	3788	3881	3696	0	0	0	0	0	0	28.83	26.35	28.83
2035	-0.64	-194.6	2727	2376	3880	3690	341.7	-12.2	112	2041	0.00	1.98	0.00	0.000	260	0.000	0.042	2721	3710	3785	3881	3690	0	0	0	0	0	0	28.83	26.22	28.83
2065	-0.64	-194.6	2720	3710	3880	3690	344.6	-12.0	113	2070	0.00	1.75	0.00	0.000	1030	0.000	0.021	2720	2370	3784	3880	3689	0	0	0	0	0	0	28.83	26.52	28.83
2386	-0.64	-194.6	2720	2370	3880	3683	386.2	-13.9	129	2391	0.00	1.85	0.00	0.000	516	0.000	0.029	2721	1073	3781	3880	3683	0	0	0	0	0	0	28.83	26.29	28.83
2432	-0.64	-194.6	2720	1073	3880	3682	392.6	-13.9	131	2438	0.00	1.88	0.00	0.000	1030	0.000	0.028	2717	2376	3781	3880	3682	0	0	0	0	0	0	28.83	26.34	28.83
2759	-0.64	-194.6	2717	2377	3880	3676	432.3	-10.9	147	2765	0.00	1.98	0.00	0.000	260	0.000	0.042	2717	3707	3778	3880	3676	0	0	0	0	0	0	28.83	26.20	28.83
2814	-0.64	-194.6	2717	3707	3880	3676	437.3	-10.8	149	2820	0.00	1.75	0.00	0.000	1030	0.000	0.021	2716	2396	3778	3880	3676	0	0	0	0	0	0	28.83	26.49	28.83
3131	-0.64	-194.6	2717	2396	3876	3678	467.7	-7.9	165	3136	0.00	1.92	0.00	0.000	516	0.000	0.029	2717	1049	3774	3875	3674	0	0	0	0	0	0	28.83	26.25	28.83
3213	-0.64	-194.6	2717	1049	3874	3674	472.6	-7.3	168	3222	0.00	1.90	0.00	0.000	1030	0.000	0.028	2713	2381	3774	3874	3674	0	0	0	0	0	0	28.83	26.33	28.83
3516	end dive: TARGET_DEPTH_EXCEEDED
state	3516	begin apogee
3523	-0.20	0.0	2714	2270	3871	3670	501.9	-10.2	184	3681	0.45	0.00	153.93	0.693	10246	0.113	0.000	2862	2269	2991	3100	2882	0	0	0	0	0	0	25.84	28.83	24.62
3685	end apogee: CONTROL_FINISHED_OK
state	3686	begin climb
3688	0.64	194.6	2862	2269	3098	2874	509.7	0.0	191	3859	0.75	2.17	157.60	0.672	10500	0.070	0.041	3137	3629	2190	2320	2061	0	0	1	0	0	0	25.32	25.14	24.56
3916	0.67	209.5	3137	3629	2317	2050	502.8	8.8	201	3939	0.00	2.00	12.23	0.662	9222	0.000	0.021	3147	2250	2131	2263	2000	0	0	0	0	0	0	28.83	25.67	24.78
4238	0.67	209.5	3147	2250	2262	1990	466.7	11.8	217	4244	0.00	2.05	0.00	0.000	516	0.000	0.037	3156	874	2126	2262	1990	0	0	0	0	0	0	28.83	25.98	28.83
4305	0.67	209.5	3156	874	2261	1986	458.7	11.6	220	4313	0.08	1.98	0.00	0.000	5126	0.187	0.024	3142	2249	2125	2261	1990	0	0	0	0	0	0	25.93	26.12	28.83
4633	0.67	209.5	3143	2249	2260	1985	423.5	10.3	236	4634	0.00	0.00	0.00	0.000	6	0.000	0.000	3143	2249	2122	2260	1985	0	0	0	0	0	0	28.83	28.83	28.83
4932	0.67	209.5	3142	2248	2257	1983	393.7	9.5	251	4938	0.00	2.08	0.00	0.000	260	0.000	0.041	3142	3632	2120	2257	1983	0	0	0	0	0	0	28.83	26.13	28.83
4973	0.67	209.5	3142	3632	2255	1983	391.3	9.6	252	4981	0.00	1.95	0.00	0.000	1030	0.000	0.021	3145	2240	2119	2255	1983	0	0	0	0	0	0	28.83	26.33	28.83
5278	0.67	209.5	3145	2240	2255	1981	357.4	10.4	268	5284	0.00	2.00	0.00	0.000	516	0.000	0.038	3155	873	2118	2254	1982	0	0	0	0	0	0	28.83	26.13	28.83
5334	0.67	209.5	3154	873	2254	1981	352.3	10.9	270	5340	0.00	1.95	0.00	0.000	1030	0.000	0.025	3155	2243	2117	2254	1981	0	0	0	0	0	0	28.83	26.28	28.83
5650	0.67	209.5	3154	2243	2252	1980	313.6	12.8	286	5656	0.00	2.05	0.00	0.000	516	0.000	0.037	3163	871	2116	2252	1980	0	0	0	0	0	0	28.83	26.12	28.83
5706	0.67	209.5	3162	871	2254	1980	307.2	13.4	288	5712	0.10	1.95	0.00	0.000	5126	0.177	0.025	3141	2244	2116	2252	1980	0	0	0	0	0	0	25.99	26.29	28.83
6025	0.67	209.5	3141	2244	2250	1979	270.1	9.6	304	6031	0.00	2.08	0.00	0.000	260	0.000	0.040	3141	3632	2114	2250	1978	0	0	0	0	0	0	28.83	26.15	28.83
6052	0.67	209.5	3141	3632	2249	1979	267.3	9.6	305	6059	0.00	1.95	0.00	0.000	1030	0.000	0.021	3145	2240	2113	2249	1978	0	0	0	0	0	0	28.83	26.37	28.83
6376	0.69	219.4	3145	2239	2248	1979	239.3	8.9	321	6382	0.00	0.00	4.18	0.492	8198	0.000	0.000	3145	2239	2096	2228	1964	0	0	0	0	0	0	28.83	28.83	25.01
6674	0.78	264.0	3145	2239	2229	1967	211.5	7.8	336	6723	0.10	2.17	40.58	0.519	10500	0.098	0.039	3203	3628	1912	2039	1785	0	0	0	0	0	0	26.48	25.96	25.37
6761	0.78	264.0	3203	3628	2035	1780	203.0	10.7	339	6772	0.15	1.98	0.00	0.000	5126	0.184	0.021	3174	2243	1907	2035	1780	0	0	0	0	0	0	25.60	26.05	28.83
7068	0.78	264.0	3174	2242	2034	1775	168.1	9.9	355	7075	0.00	2.10	0.00	0.000	260	0.000	0.039	3174	3629	1904	2034	1775	0	0	0	0	0	0	28.83	26.03	28.83
7103	0.78	265.1	3173	3629	2029	1773	165.9	9.2	356	7109	0.00	1.98	0.00	0.000	1030	0.000	0.021	3175	2251	1903	2032	1774	0	0	0	0	0	0	28.83	26.19	28.83
7418	1.04	396.6	3175	2251	2032	1772	148.8	5.1	372	7534	0.22	2.10	102.60	0.448	10756	0.060	0.036	3301	858	1367	1474	1260	0	0	0	0	0	0	26.34	25.58	25.08
7614	1.04	396.6	3300	858	1470	1256	121.8	17.9	380	7623	0.15	2.00	0.00	0.000	5126	0.171	0.024	3264	2240	1362	1470	1255	0	0	0	0	0	0	25.44	25.83	28.83
7920	1.04	396.6	3264	2241	1469	1253	79.8	11.4	396	7926	0.00	2.10	0.00	0.000	260	0.000	0.038	3264	3641	1358	1469	1248	0	0	0	0	0	0	28.83	25.99	28.83
8112	1.04	396.6	3264	3641	1466	1246	58.9	11.4	405	8118	0.00	2.00	0.00	0.000	1030	0.000	0.021	3269	2232	1356	1466	1246	0	0	0	0	0	0	28.83	26.24	28.83
8423	1.05	400.4	3268	2231	1466	1245	31.6	9.1	431	8430	0.00	0.00	0.00	0.000	6	0.000	0.000	3269	2230	1355	1466	1245	0	0	0	0	0	0	28.83	28.83	28.83
8743	end climb: SURFACE_DEPTH_REACHED
state	8743	begin surface coast
8784	end surface coast: CONTROL_FINISHED_OK
state	8784	begin surface