Glider dive log

OKMC Mar13 * SG177 * Dive index * Mission links * Dive 348 * 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 348 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 70 ALTIM_SENSITIVITY 0

D_ABORT 650 SM_CC 619.87311 R_STBD_OVSHOOT 86 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 -16986.154 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 -16986.154

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 70 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 86 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 348 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 240513,230733,1843.860,12155.702,171,3.1,190,-2.1 TGT_NAME PICKUP

_CALLS 5 TGT_LATLONG 1845.000,12200.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240513,232730,1844.001,12155.229,183,2.9,202,-2.1 MHEAD_RNG_PITCHd_Wd 74.3,8568,-6.3,-9.259,-6.96,3220

SPEED_LIMITS 0.160,0.759 D_GRID 1054

Post-dive calculations and measurements:

FINISH -0.0,1.020966 _10V_AH 10.2,40.624

SM_CCo 8850,67.93,0.050,0,0,464,619.87 FG_AHR_24Vo 0.000

SM_GC -1.63,8.45,0.15,67.93,0.058,0.069,0.050,134,2427,464,-8.62,-1.67,619.87,0,0,0,0,0,0,26.17,26.39,26.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1837.32,12154.05,240513,232332 MEM 320616

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 16759,486

HUMID 49.76 CAP_FILE_SIZE 251336,0

INTERNAL_PRESSURE 9.67811 CFSIZE 260034560,208556032

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

XPDR_PINGS 59 CURRENT 0.364,244.0,1

SC_FREEKB 3886912 GPS 250513,015856,1843.763,12154.949,74,4.9,93,-2.1

_24V_AH 24.6,43.674

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 236 121.68 nil 0 0 0.00

Roll_motor 62 78 120.83 nil 0 0 0.00

VBD_pump_during_apogee 499 690 8480.63 nil 0 0 0.00

VBD_pump_during_surface 67 49 83.09 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 8840 10 2282.94

Iridium_during_xfer 564 110 1540.38 nil 0 0 0.00

Transponder_ping 14 420 152.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 206 30 64.56

TT8 1926 17 338.16

LPSleep 5179 2 115.70

TT8_Active 633 17 111.18

TT8_Sampling 1954 43 865.82

TT8_CF8 417 54 232.56

TT8_Kalman 0 0 0.00

Analog_circuits 1892 15 289.53

GPS_charging 0 0 0.00

Compass 1149 7 87.82

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.64 -194.6 141 2418 490 448 0.0 0.0 0 117 0.00 0.00 -93.70 0.000 16386 0.000 0.000 141 2418 2920 2954 2886 0 0 0 0 0 0 28.83 28.83 28.83

121 -0.64 -194.6 141 2418 2954 2888 3.0 -11.8 13 155 10.62 1.83 -13.15 0.000 18692 0.236 0.045 2705 3682 3788 3877 3699 0 0 0 0 0 0 25.54 26.20 26.59

308 -0.64 -194.6 2705 3682 3877 3700 73.1 -32.7 28 314 0.00 1.83 0.00 0.000 1030 0.000 0.029 2705 2334 3788 3877 3700 0 0 0 0 0 0 28.83 26.39 28.83

622 -0.64 -194.6 2705 2332 3877 3704 154.7 -23.2 44 629 0.00 1.85 0.00 0.000 516 0.000 0.027 2705 1018 3788 3877 3700 0 0 0 0 0 0 28.83 26.29 28.83

675 -0.64 -194.6 2705 1018 3877 3700 162.2 -17.5 46 681 0.10 1.88 0.00 0.000 3078 0.172 0.026 2723 2351 3789 3878 3700 0 0 0 0 0 0 26.10 26.34 28.83

996 -0.64 -194.6 2723 2352 3877 3700 208.9 -15.8 62 1002 0.00 1.88 0.00 0.000 516 0.000 0.028 2724 1030 3788 3877 3700 0 0 0 0 0 0 28.83 26.31 28.83

1066 -0.64 -194.6 2724 1029 3878 3700 218.0 -13.7 65 1073 0.00 1.90 0.00 0.000 1030 0.000 0.026 2719 2379 3789 3878 3700 0 0 0 0 0 0 28.83 26.36 28.83

1389 -0.64 -194.6 2719 2384 3877 3698 257.1 -11.1 81 1395 0.00 1.95 0.00 0.000 260 0.000 0.041 2716 3707 3788 3878 3698 0 0 0 0 0 0 28.83 26.26 28.83

1417 -0.64 -194.6 2716 3708 3877 3698 260.1 -11.1 82 1422 0.00 1.80 0.00 0.000 1030 0.000 0.020 2716 2354 3788 3878 3698 0 0 0 0 0 0 28.83 26.52 28.83

1739 -0.64 -194.6 2715 2353 3877 3691 297.6 -12.3 98 1745 0.00 1.90 0.00 0.000 516 0.000 0.028 2716 1025 3784 3878 3691 0 0 0 0 0 0 28.83 26.30 28.83

1816 -0.64 -194.6 2716 1025 3877 3689 306.1 -12.2 101 1822 0.00 1.92 0.00 0.000 1030 0.000 0.027 2713 2372 3783 3877 3689 0 0 0 0 0 0 28.83 26.36 28.83

2131 -0.64 -194.6 2713 2373 3877 3682 344.9 -11.6 117 2133 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2373 3779 3877 3682 0 0 0 0 0 0 28.83 28.83 28.83

2431 -0.64 -194.6 2713 2373 3877 3676 378.7 -10.6 132 2432 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2373 3776 3877 3676 0 0 0 0 0 0 28.83 28.83 28.83

2732 -0.64 -194.6 2713 2373 3874 3673 409.3 -10.7 147 2738 0.00 1.98 0.00 0.000 260 0.000 0.043 2713 3705 3773 3874 3673 0 0 0 0 0 0 28.83 26.20 28.83

2759 -0.64 -194.6 2709 3705 3873 3673 412.1 -10.8 148 2765 0.00 1.80 0.00 0.000 1030 0.000 0.021 2713 2374 3773 3873 3673 0 0 0 0 0 0 28.83 26.49 28.83

3082 -0.64 -194.6 2713 2374 3869 3669 449.9 -12.5 164 3088 0.00 1.92 0.00 0.000 516 0.000 0.030 2713 1040 3769 3869 3669 0 0 0 0 0 0 28.83 26.25 28.83

3160 -0.64 -194.6 2713 1040 3867 3668 458.5 -12.3 167 3166 0.00 1.92 0.00 0.000 1030 0.000 0.028 2712 2380 3765 3867 3664 0 0 0 0 0 0 28.83 26.31 28.83

3475 -0.64 -194.6 2712 2380 3864 3665 493.5 -10.1 183 3476 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2380 3763 3863 3664 0 0 0 0 0 0 28.83 28.83 28.83

3552 end dive: TARGET_DEPTH_EXCEEDED

state 3552 begin apogee

3559 -0.20 0.0 2712 2250 3859 3663 501.9 -10.5 187 3719 0.45 0.00 152.88 0.691 10246 0.113 0.000 2861 2250 2988 3096 2881 0 0 0 0 0 0 25.83 28.83 24.60

3722 end apogee: CONTROL_FINISHED_OK

state 3722 begin climb

3724 0.64 194.6 2861 2250 3096 2877 509.1 0.0 194 3892 0.75 2.15 157.43 0.675 10756 0.074 0.035 3141 893 2193 2324 2063 0 0 0 0 0 0 25.31 25.19 24.56

3986 0.68 214.0 3142 893 2319 2052 499.3 8.6 205 4010 0.00 1.98 15.82 0.665 9222 0.000 0.024 3142 2244 2114 2246 1983 0 0 0 0 0 0 28.83 25.76 24.87

4325 0.68 214.0 3141 2245 2242 1971 464.0 10.4 222 4326 0.00 0.00 0.00 0.000 6 0.000 0.000 3141 2244 2106 2242 1971 0 0 0 0 0 0 28.83 28.83 28.83

4624 0.68 214.0 3141 2244 2239 1968 433.4 10.0 237 4630 0.00 2.03 0.00 0.000 516 0.000 0.036 3149 891 2103 2239 1968 0 0 0 0 0 0 28.83 26.08 28.83

4680 0.68 214.0 3149 891 2239 1968 428.7 10.2 239 4686 0.00 1.92 0.00 0.000 1030 0.000 0.025 3149 2241 2103 2239 1968 0 0 0 0 0 0 28.83 26.22 28.83

4995 0.68 214.0 3149 2242 2236 1965 389.7 11.9 255 4996 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2242 2100 2236 1964 0 0 0 0 0 0 28.83 28.83 28.83

5295 0.68 214.0 3149 2242 2234 1963 353.4 11.5 270 5296 0.00 0.00 0.00 0.000 6 0.000 0.000 3149 2242 2098 2234 1963 0 0 0 0 0 0 28.83 28.83 28.83

5596 0.70 224.2 3149 2242 2232 1963 326.7 8.9 285 5608 0.00 2.12 4.78 0.568 8452 0.000 0.041 3149 3631 2078 2210 1947 0 0 0 0 0 0 28.83 26.29 25.17

5698 0.70 224.2 3149 3631 2210 1947 317.2 10.9 289 5706 0.00 1.92 0.00 0.000 1030 0.000 0.022 3150 2267 2078 2210 1947 0 0 0 0 0 0 28.83 26.32 28.83

6005 0.70 224.2 3150 2267 2210 1947 282.7 11.0 305 6011 0.00 2.08 0.00 0.000 516 0.000 0.038 3159 859 2078 2210 1947 0 0 0 0 0 0 28.83 26.13 28.83

6082 0.70 224.2 3158 859 2210 1947 274.3 12.3 308 6088 0.00 1.98 0.00 0.000 1030 0.000 0.024 3158 2250 2078 2210 1947 0 0 0 0 0 0 28.83 26.29 28.83

6397 0.79 268.6 3158 2250 2210 1947 241.0 7.8 324 6445 0.08 2.15 40.47 0.547 10500 0.122 0.041 3204 3629 1892 2017 1767 0 0 0 0 0 0 26.50 25.96 25.37

6499 0.79 268.6 3204 3629 2011 1762 230.3 11.9 328 6507 0.12 2.00 0.00 0.000 5126 0.193 0.022 3179 2243 1886 2011 1762 0 0 0 0 0 0 25.64 26.03 28.83

6819 0.79 268.6 3179 2241 2008 1758 195.0 10.0 344 6825 0.00 2.05 0.00 0.000 516 0.000 0.038 3187 861 1883 2008 1758 0 0 0 0 0 0 28.83 26.00 28.83

6971 0.79 268.6 3186 861 2007 1758 179.0 10.4 351 6977 0.00 1.98 0.00 0.000 1030 0.000 0.024 3187 2242 1882 2007 1758 0 0 0 0 0 0 28.83 26.20 28.83

7298 0.79 268.6 3187 2243 2006 1757 145.5 10.0 367 7305 0.00 2.10 0.00 0.000 260 0.000 0.039 3186 3635 1880 2005 1756 0 0 0 0 0 0 28.83 26.10 28.83

7457 0.90 324.6 3186 3634 2003 1755 132.2 7.5 374 7511 0.10 2.00 42.90 0.463 11270 0.100 0.021 3244 2211 1663 1779 1548 0 0 0 0 0 0 26.20 26.32 25.42

7820 0.97 359.5 3244 2211 1771 1539 100.4 8.1 392 7853 0.00 1.98 26.52 0.438 8708 0.000 0.036 3252 880 1520 1633 1408 0 0 0 0 0 0 28.83 25.99 25.46

8016 1.13 437.7 3252 880 1630 1405 88.3 6.8 401 8082 0.12 1.95 58.25 0.409 11270 0.080 0.024 3317 2249 1202 1301 1103 0 0 0 0 0 0 26.06 26.11 25.27

8373 1.13 437.7 3317 2249 1294 1096 45.6 13.6 420 8382 0.12 0.00 0.00 0.000 4102 0.166 0.000 3282 2249 1195 1294 1096 0 0 0 0 0 0 25.89 28.83 28.83

8688 1.13 439.5 2240 2247 1263 1093 13.7 9.2 462 8696 0.00 2.03 0.00 0.000 260 0.000 0.036 3281 3628 1194 1293 1095 0 0 0 0 0 0 28.83 26.14 28.83

8731 1.13 439.5 2240 3627 1263 1093 9.4 10.3 469 8740 0.00 1.95 0.00 0.000 1030 0.000 0.021 3282 2256 1194 1294 1095 0 0 0 0 0 0 28.83 26.29 28.83

8801 end climb: SURFACE_DEPTH_REACHED

state 8801 begin surface coast

8830 end surface coast: CONTROL_FINISHED_OK

state 8830 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	348	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	70	ALTIM_SENSITIVITY	0
D_ABORT	650	SM_CC	619.87311	R_STBD_OVSHOOT	86	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	-16986.154	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	240513,230733,1843.860,12155.702,171,3.1,190,-2.1	TGT_NAME	PICKUP
_CALLS	5	TGT_LATLONG	1845.000,12200.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240513,232730,1844.001,12155.229,183,2.9,202,-2.1	MHEAD_RNG_PITCHd_Wd	74.3,8568,-6.3,-9.259,-6.96,3220
SPEED_LIMITS	0.160,0.759	D_GRID	1054

FINISH	-0.0,1.020966	_10V_AH	10.2,40.624
SM_CCo	8850,67.93,0.050,0,0,464,619.87	FG_AHR_24Vo	0.000
SM_GC	-1.63,8.45,0.15,67.93,0.058,0.069,0.050,134,2427,464,-8.62,-1.67,619.87,0,0,0,0,0,0,26.17,26.39,26.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1837.32,12154.05,240513,232332	MEM	320616
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	16759,486
HUMID	49.76	CAP_FILE_SIZE	251336,0
INTERNAL_PRESSURE	9.67811	CFSIZE	260034560,208556032
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	59	CURRENT	0.364,244.0,1
SC_FREEKB	3886912	GPS	250513,015856,1843.763,12154.949,74,4.9,93,-2.1
_24V_AH	24.6,43.674

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	236	121.68	nil	0	0	0.00
Roll_motor	62	78	120.83	nil	0	0	0.00
VBD_pump_during_apogee	499	690	8480.63	nil	0	0	0.00
VBD_pump_during_surface	67	49	83.09	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	8840	10	2282.94
Iridium_during_xfer	564	110	1540.38	nil	0	0	0.00
Transponder_ping	14	420	152.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	206	30	64.56
TT8	1926	17	338.16
LPSleep	5179	2	115.70
TT8_Active	633	17	111.18
TT8_Sampling	1954	43	865.82
TT8_CF8	417	54	232.56
TT8_Kalman	0	0	0.00
Analog_circuits	1892	15	289.53
GPS_charging	0	0	0.00
Compass	1149	7	87.82
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.64	-194.6	141	2418	490	448	0.0	0.0	0	117	0.00	0.00	-93.70	0.000	16386	0.000	0.000	141	2418	2920	2954	2886	0	0	0	0	0	0	28.83	28.83	28.83
121	-0.64	-194.6	141	2418	2954	2888	3.0	-11.8	13	155	10.62	1.83	-13.15	0.000	18692	0.236	0.045	2705	3682	3788	3877	3699	0	0	0	0	0	0	25.54	26.20	26.59
308	-0.64	-194.6	2705	3682	3877	3700	73.1	-32.7	28	314	0.00	1.83	0.00	0.000	1030	0.000	0.029	2705	2334	3788	3877	3700	0	0	0	0	0	0	28.83	26.39	28.83
622	-0.64	-194.6	2705	2332	3877	3704	154.7	-23.2	44	629	0.00	1.85	0.00	0.000	516	0.000	0.027	2705	1018	3788	3877	3700	0	0	0	0	0	0	28.83	26.29	28.83
675	-0.64	-194.6	2705	1018	3877	3700	162.2	-17.5	46	681	0.10	1.88	0.00	0.000	3078	0.172	0.026	2723	2351	3789	3878	3700	0	0	0	0	0	0	26.10	26.34	28.83
996	-0.64	-194.6	2723	2352	3877	3700	208.9	-15.8	62	1002	0.00	1.88	0.00	0.000	516	0.000	0.028	2724	1030	3788	3877	3700	0	0	0	0	0	0	28.83	26.31	28.83
1066	-0.64	-194.6	2724	1029	3878	3700	218.0	-13.7	65	1073	0.00	1.90	0.00	0.000	1030	0.000	0.026	2719	2379	3789	3878	3700	0	0	0	0	0	0	28.83	26.36	28.83
1389	-0.64	-194.6	2719	2384	3877	3698	257.1	-11.1	81	1395	0.00	1.95	0.00	0.000	260	0.000	0.041	2716	3707	3788	3878	3698	0	0	0	0	0	0	28.83	26.26	28.83
1417	-0.64	-194.6	2716	3708	3877	3698	260.1	-11.1	82	1422	0.00	1.80	0.00	0.000	1030	0.000	0.020	2716	2354	3788	3878	3698	0	0	0	0	0	0	28.83	26.52	28.83
1739	-0.64	-194.6	2715	2353	3877	3691	297.6	-12.3	98	1745	0.00	1.90	0.00	0.000	516	0.000	0.028	2716	1025	3784	3878	3691	0	0	0	0	0	0	28.83	26.30	28.83
1816	-0.64	-194.6	2716	1025	3877	3689	306.1	-12.2	101	1822	0.00	1.92	0.00	0.000	1030	0.000	0.027	2713	2372	3783	3877	3689	0	0	0	0	0	0	28.83	26.36	28.83
2131	-0.64	-194.6	2713	2373	3877	3682	344.9	-11.6	117	2133	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2373	3779	3877	3682	0	0	0	0	0	0	28.83	28.83	28.83
2431	-0.64	-194.6	2713	2373	3877	3676	378.7	-10.6	132	2432	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2373	3776	3877	3676	0	0	0	0	0	0	28.83	28.83	28.83
2732	-0.64	-194.6	2713	2373	3874	3673	409.3	-10.7	147	2738	0.00	1.98	0.00	0.000	260	0.000	0.043	2713	3705	3773	3874	3673	0	0	0	0	0	0	28.83	26.20	28.83
2759	-0.64	-194.6	2709	3705	3873	3673	412.1	-10.8	148	2765	0.00	1.80	0.00	0.000	1030	0.000	0.021	2713	2374	3773	3873	3673	0	0	0	0	0	0	28.83	26.49	28.83
3082	-0.64	-194.6	2713	2374	3869	3669	449.9	-12.5	164	3088	0.00	1.92	0.00	0.000	516	0.000	0.030	2713	1040	3769	3869	3669	0	0	0	0	0	0	28.83	26.25	28.83
3160	-0.64	-194.6	2713	1040	3867	3668	458.5	-12.3	167	3166	0.00	1.92	0.00	0.000	1030	0.000	0.028	2712	2380	3765	3867	3664	0	0	0	0	0	0	28.83	26.31	28.83
3475	-0.64	-194.6	2712	2380	3864	3665	493.5	-10.1	183	3476	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2380	3763	3863	3664	0	0	0	0	0	0	28.83	28.83	28.83
3552	end dive: TARGET_DEPTH_EXCEEDED
state	3552	begin apogee
3559	-0.20	0.0	2712	2250	3859	3663	501.9	-10.5	187	3719	0.45	0.00	152.88	0.691	10246	0.113	0.000	2861	2250	2988	3096	2881	0	0	0	0	0	0	25.83	28.83	24.60
3722	end apogee: CONTROL_FINISHED_OK
state	3722	begin climb
3724	0.64	194.6	2861	2250	3096	2877	509.1	0.0	194	3892	0.75	2.15	157.43	0.675	10756	0.074	0.035	3141	893	2193	2324	2063	0	0	0	0	0	0	25.31	25.19	24.56
3986	0.68	214.0	3142	893	2319	2052	499.3	8.6	205	4010	0.00	1.98	15.82	0.665	9222	0.000	0.024	3142	2244	2114	2246	1983	0	0	0	0	0	0	28.83	25.76	24.87
4325	0.68	214.0	3141	2245	2242	1971	464.0	10.4	222	4326	0.00	0.00	0.00	0.000	6	0.000	0.000	3141	2244	2106	2242	1971	0	0	0	0	0	0	28.83	28.83	28.83
4624	0.68	214.0	3141	2244	2239	1968	433.4	10.0	237	4630	0.00	2.03	0.00	0.000	516	0.000	0.036	3149	891	2103	2239	1968	0	0	0	0	0	0	28.83	26.08	28.83
4680	0.68	214.0	3149	891	2239	1968	428.7	10.2	239	4686	0.00	1.92	0.00	0.000	1030	0.000	0.025	3149	2241	2103	2239	1968	0	0	0	0	0	0	28.83	26.22	28.83
4995	0.68	214.0	3149	2242	2236	1965	389.7	11.9	255	4996	0.00	0.00	0.00	0.000	6	0.000	0.000	3151	2242	2100	2236	1964	0	0	0	0	0	0	28.83	28.83	28.83
5295	0.68	214.0	3149	2242	2234	1963	353.4	11.5	270	5296	0.00	0.00	0.00	0.000	6	0.000	0.000	3149	2242	2098	2234	1963	0	0	0	0	0	0	28.83	28.83	28.83
5596	0.70	224.2	3149	2242	2232	1963	326.7	8.9	285	5608	0.00	2.12	4.78	0.568	8452	0.000	0.041	3149	3631	2078	2210	1947	0	0	0	0	0	0	28.83	26.29	25.17
5698	0.70	224.2	3149	3631	2210	1947	317.2	10.9	289	5706	0.00	1.92	0.00	0.000	1030	0.000	0.022	3150	2267	2078	2210	1947	0	0	0	0	0	0	28.83	26.32	28.83
6005	0.70	224.2	3150	2267	2210	1947	282.7	11.0	305	6011	0.00	2.08	0.00	0.000	516	0.000	0.038	3159	859	2078	2210	1947	0	0	0	0	0	0	28.83	26.13	28.83
6082	0.70	224.2	3158	859	2210	1947	274.3	12.3	308	6088	0.00	1.98	0.00	0.000	1030	0.000	0.024	3158	2250	2078	2210	1947	0	0	0	0	0	0	28.83	26.29	28.83
6397	0.79	268.6	3158	2250	2210	1947	241.0	7.8	324	6445	0.08	2.15	40.47	0.547	10500	0.122	0.041	3204	3629	1892	2017	1767	0	0	0	0	0	0	26.50	25.96	25.37
6499	0.79	268.6	3204	3629	2011	1762	230.3	11.9	328	6507	0.12	2.00	0.00	0.000	5126	0.193	0.022	3179	2243	1886	2011	1762	0	0	0	0	0	0	25.64	26.03	28.83
6819	0.79	268.6	3179	2241	2008	1758	195.0	10.0	344	6825	0.00	2.05	0.00	0.000	516	0.000	0.038	3187	861	1883	2008	1758	0	0	0	0	0	0	28.83	26.00	28.83
6971	0.79	268.6	3186	861	2007	1758	179.0	10.4	351	6977	0.00	1.98	0.00	0.000	1030	0.000	0.024	3187	2242	1882	2007	1758	0	0	0	0	0	0	28.83	26.20	28.83
7298	0.79	268.6	3187	2243	2006	1757	145.5	10.0	367	7305	0.00	2.10	0.00	0.000	260	0.000	0.039	3186	3635	1880	2005	1756	0	0	0	0	0	0	28.83	26.10	28.83
7457	0.90	324.6	3186	3634	2003	1755	132.2	7.5	374	7511	0.10	2.00	42.90	0.463	11270	0.100	0.021	3244	2211	1663	1779	1548	0	0	0	0	0	0	26.20	26.32	25.42
7820	0.97	359.5	3244	2211	1771	1539	100.4	8.1	392	7853	0.00	1.98	26.52	0.438	8708	0.000	0.036	3252	880	1520	1633	1408	0	0	0	0	0	0	28.83	25.99	25.46
8016	1.13	437.7	3252	880	1630	1405	88.3	6.8	401	8082	0.12	1.95	58.25	0.409	11270	0.080	0.024	3317	2249	1202	1301	1103	0	0	0	0	0	0	26.06	26.11	25.27
8373	1.13	437.7	3317	2249	1294	1096	45.6	13.6	420	8382	0.12	0.00	0.00	0.000	4102	0.166	0.000	3282	2249	1195	1294	1096	0	0	0	0	0	0	25.89	28.83	28.83
8688	1.13	439.5	2240	2247	1263	1093	13.7	9.2	462	8696	0.00	2.03	0.00	0.000	260	0.000	0.036	3281	3628	1194	1293	1095	0	0	0	0	0	0	28.83	26.14	28.83
8731	1.13	439.5	2240	3627	1263	1093	9.4	10.3	469	8740	0.00	1.95	0.00	0.000	1030	0.000	0.021	3282	2256	1194	1294	1095	0	0	0	0	0	0	28.83	26.29	28.83
8801	end climb: SURFACE_DEPTH_REACHED
state	8801	begin surface coast
8830	end surface coast: CONTROL_FINISHED_OK
state	8830	begin surface