Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MAX 3764 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 16 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 35 ESCAPE_HEADING 0 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2800 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 1010 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 93 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 554.9259 R_STBD_OVSHOOT 77 XPDR_VALID 0

D_BOOST 120 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 4 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 460 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2763 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 350 CALL_WAIT 60 PITCH_VBD_SHIFT 0.003 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 5 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 -7 T_GPS_CHARGE -974739.12 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 150 MINV_24V 22 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3944 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3085 FG_AHR_10V 0 SEABIRD_T_G 0.0043557216

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062581268

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PHONE_SUPPLY -2 SEABIRD_T_I 2.3904395e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -15.330984 SEABIRD_T_J 2.614597e-06

MASS 52152 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001158971 SEABIRD_C_G -10.14994

MASS_COMP 0 PITCH_TIMEOUT 19 AD7714Ch0Gain 128 SEABIRD_C_H 1.1477706

NAV_MODE 0 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0022030354

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00024289287

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 187 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_T_J 2.614597e-06

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 554.9259

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.0031256729 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 27 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.003 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 0.0038360001 PRESSURE_SLOPE 0.0001158971 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -15.330984 T_BOOST 4

CALL_WAIT 60 HD_C 9.8500004e-06 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 5

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -974739.12

COMPASS2_DEVICE -1 ID 167 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 350

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 2

C_PITCH 3085 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2800 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 1900 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2763 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3764 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52152 ROLL_MAXERRORS 2 USE_BATHY -7

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 187 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_PORT_OVSHOOT 93 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 77 VBD_DBAND 2

DEVICE4 -1 MISSION 16 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_MIN 460

DIVE 35 NOCOMM_ACTION 163 SEABIRD_C_G -10.14994 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1010 N_DIVES 0 SEABIRD_C_H 1.1477706 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 4 SEABIRD_C_I -0.0022030354 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00024289287 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0043557216 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062581268 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_I 2.3904395e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 250613,122923,2200.049,12024.382,46,0.8,46,-3.1 TGT_NAME T1

_CALLS 1 TGT_LATLONG 2200.000,12024.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250613,123633,2200.105,12024.443,9,0.8,9,-3.1 MHEAD_RNG_PITCHd_Wd 258.8,785,-27.8,-10.000,-30.00,969

SPEED_LIMITS 0.173,0.296 D_GRID 948

Post-dive calculations and measurements:

FREEZE 68.00,22.712,-1.927,0,1,0 _24V_AH 24.0,4.185

SM_CCo 9499,202.25,0.259,0,0,459,564.93 _10V_AH 10.2,3.431

SM_GC 1.76,8.77,1.30,0.00,0.033,0.028,0.000,142,1935,488,-9.14,2.46,558.30,0,0,0,0,0,0,26.05,26.08,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2150.42,12019.57,250613,090951 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 324532

HUMID 56.49 DATA_FILE_SIZE 16775,428

INTERNAL_PRESSURE 9.39489 CAP_FILE_SIZE 114138,0

TCM_TEMP 23.10 CFSIZE 260034560,246853632

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 7702752 GPS 250613,152405,2200.094,12023.827,34,1.1,34,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 236 122.54 nil 0 0 0.00

Roll_motor 61 45 66.84 nil 0 0 0.00

VBD_pump_during_apogee 215 1142 5917.30 nil 0 0 0.00

VBD_pump_during_surface 202 258 1255.10 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 9499 16 3686.37

Iridium_during_xfer 240 119 687.90 nil 0 0 0.00

Transponder_ping 0 420 5.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.77

TT8 1647 13 234.55

LPSleep 6187 2 138.22

TT8_Active 520 13 74.05

TT8_Sampling 1660 40 680.35

TT8_CF8 359 47 174.90

TT8_Kalman 0 0 0.00

Analog_circuits 1499 16 244.71

GPS_charging 0 0 0.00

Compass 1385 5 70.64

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.22 -63.1 110 1943 434 564 0.0 0.0 0 111 0.00 0.00 -82.28 0.000 16386 0.000 0.000 110 1944 2521 2499 2543 0 0 0 0 0 0 28.83 28.83 28.83

116 -1.39 -119.5 110 1944 2500 2543 3.1 -4.0 15 146 9.90 0.00 -14.23 0.000 18694 0.236 0.000 2632 1944 3253 3249 3258 0 0 0 0 0 0 25.89 28.83 26.40

460 -1.39 -119.5 2632 1944 3250 3263 111.7 -26.2 43 461 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 1944 3256 3250 3263 0 0 0 0 0 0 28.83 28.83 28.83

763 -1.39 -119.5 2632 1944 3251 3264 180.4 -24.1 58 764 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 1944 3257 3251 3263 0 0 0 0 0 0 28.83 28.83 28.83

1063 -1.39 -119.5 2632 1944 3249 3264 253.1 -25.5 73 1068 0.00 1.95 0.00 0.000 260 0.000 0.034 2623 3277 3257 3250 3264 0 0 0 0 0 0 28.83 26.53 28.83

1298 -1.39 -119.5 2623 3277 3250 3263 296.9 -18.5 84 1304 0.00 1.92 0.00 0.000 1030 0.000 0.018 2624 1919 3257 3251 3263 0 0 0 0 0 0 28.83 26.60 28.83

1613 -1.39 -119.5 2623 1918 3250 3260 362.0 -20.0 100 1618 0.00 2.00 0.00 0.000 260 0.000 0.031 2615 3282 3254 3250 3259 0 0 0 0 0 0 28.83 26.61 28.83

1667 -1.39 -119.5 2614 3282 3250 3259 371.1 -20.6 102 1672 0.00 1.95 0.00 0.000 1030 0.000 0.018 2614 1897 3254 3250 3259 0 0 0 0 0 0 28.83 26.65 28.83

1981 -1.39 -119.5 2615 1897 3250 3256 428.9 -16.9 118 1986 0.00 2.00 0.00 0.000 516 0.000 0.031 2614 508 3252 3250 3255 0 0 0 0 0 0 28.83 26.65 28.83

2035 -1.39 -119.5 2614 507 3250 3255 436.5 -16.8 120 2041 0.12 1.95 0.00 0.000 3078 0.207 0.018 2631 1888 3252 3250 3254 0 0 0 0 0 0 26.49 26.67 28.83

2350 -1.39 -119.5 2631 1888 3250 3251 490.2 -16.7 136 2355 0.00 2.05 0.00 0.000 260 0.000 0.035 2624 3289 3250 3250 3251 0 0 0 0 0 0 28.83 26.66 28.83

2587 -1.39 -119.5 2623 3290 3250 3247 531.9 -18.8 147 2592 0.00 1.98 0.00 0.000 1030 0.000 0.018 2623 1894 3248 3250 3246 0 0 0 0 0 0 28.83 26.71 28.83

2902 -1.39 -119.5 2623 1894 3250 3243 601.8 -21.8 163 2907 0.00 2.05 0.00 0.000 260 0.000 0.033 2614 3288 3246 3250 3242 0 0 0 0 0 0 28.83 26.69 28.83

2997 -1.39 -119.5 2614 3288 3250 3240 621.9 -21.5 166 3002 0.00 1.98 0.00 0.000 1030 0.000 0.018 2614 1901 3245 3250 3240 0 0 0 0 0 0 28.83 26.73 28.83

3334 -1.39 -119.5 2614 1901 3250 3236 684.3 -17.8 177 3339 0.00 2.05 0.00 0.000 260 0.000 0.034 2605 3292 3242 3250 3235 0 0 0 0 0 0 28.83 26.70 28.83

3429 -1.39 -119.5 2605 3292 3250 3234 701.1 -17.3 180 3435 0.12 2.00 0.00 0.000 3078 0.207 0.019 2632 1884 3241 3250 3233 0 0 0 0 0 0 26.54 26.73 28.83

3764 -1.39 -119.5 2632 1883 3250 3229 752.3 -15.1 191 3765 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 1883 3239 3250 3229 0 0 0 0 0 0 28.83 28.83 28.83

4064 -1.39 -119.5 2633 1883 3250 3224 798.1 -15.3 201 4070 0.00 2.10 0.00 0.000 260 0.000 0.035 2626 3295 3237 3250 3224 0 0 0 0 0 0 28.83 26.70 28.83

4133 -1.39 -119.5 1632 3293 3212 3216 809.0 -16.0 203 4138 0.00 1.98 0.00 0.000 1030 0.000 0.019 2626 1903 3236 3250 3223 0 0 0 0 0 0 28.83 26.75 28.83

4465 -1.39 -119.5 2626 1904 3250 3219 865.9 -17.7 214 4470 0.00 2.03 0.00 0.000 516 0.000 0.033 2626 513 3234 3250 3218 0 0 0 0 0 0 28.83 26.72 28.83

4519 -1.39 -119.5 2626 513 3250 3218 872.2 -17.5 215 4524 0.00 1.98 0.00 0.000 1030 0.000 0.019 2617 1898 3234 3250 3218 0 0 0 0 0 0 28.83 26.74 28.83

4833 -1.39 -119.5 2617 1899 3250 3215 921.0 -10.3 226 4839 0.00 2.08 0.00 0.000 260 0.000 0.039 2617 3295 3232 3250 3214 0 0 0 0 0 0 28.83 26.71 28.83

5046 end dive: NO_VERTICAL_VELOCITY

state 5046 begin apogee

5055 -0.19 0.0 2617 2784 3250 3212 921.1 0.0 233 5168 1.10 0.00 105.53 1.143 10246 0.085 0.000 3018 2783 2753 2809 2698 0 0 0 0 0 0 26.66 28.83 24.20

5173 end apogee: CONTROL_FINISHED_OK

state 5173 begin climb

5176 1.39 119.5 3018 2783 2803 2685 920.7 0.0 237 5300 1.40 1.60 110.20 1.095 10500 0.047 0.044 3540 3723 2260 2328 2192 0 0 0 0 0 0 25.08 24.65 23.97

5530 1.39 119.5 3539 3723 2320 2162 851.4 26.5 248 5536 0.00 1.35 0.00 0.000 1030 0.000 0.025 3547 2820 2241 2320 2162 0 0 0 0 0 0 28.83 25.87 28.83

5836 1.39 119.5 3547 2819 2320 2155 765.6 26.6 259 5841 0.00 2.10 0.00 0.000 516 0.000 0.029 3557 1412 2237 2320 2155 0 0 0 0 0 0 28.83 26.17 28.83

5992 1.39 119.5 3557 1412 2320 2153 725.2 25.8 264 5997 0.00 2.08 0.00 0.000 1030 0.000 0.031 3557 2779 2236 2320 2153 0 0 0 0 0 0 28.83 26.25 28.83

6331 1.39 119.5 3557 2779 2320 2150 637.0 25.3 275 6336 0.00 1.52 0.00 0.000 260 0.000 0.045 3557 3789 2235 2320 2150 0 0 0 0 0 0 28.83 26.36 28.83

6565 1.39 119.5 3557 3789 2314 2151 579.6 25.1 284 6571 0.08 1.45 0.00 0.000 5126 0.226 0.025 3537 2794 2232 2314 2151 0 0 0 0 0 0 26.24 26.48 28.83

6881 1.39 119.5 3537 2791 2314 2148 509.0 22.1 300 6886 0.00 1.52 0.00 0.000 260 0.000 0.044 3537 3795 2231 2314 2148 0 0 0 0 0 0 28.83 26.48 28.83

7118 1.39 119.5 3537 3795 2314 2148 457.3 22.2 311 7123 0.00 1.45 0.00 0.000 1030 0.000 0.024 3544 2792 2231 2315 2148 0 0 0 0 0 0 28.83 26.58 28.83

7432 1.39 119.5 3543 2789 2314 2145 394.4 18.7 327 7437 0.00 2.00 0.00 0.000 516 0.000 0.028 3554 1419 2229 2314 2145 0 0 0 0 0 0 28.83 26.57 28.83

7669 1.39 119.5 3553 1419 2314 2144 348.6 20.3 338 7674 0.00 2.05 0.00 0.000 1030 0.000 0.030 3554 2803 2229 2314 2144 0 0 0 0 0 0 28.83 26.58 28.83

7984 1.39 119.5 3553 2803 2314 2142 273.8 21.9 354 7989 0.00 1.45 0.00 0.000 260 0.000 0.043 3554 3754 2228 2314 2143 0 0 0 0 0 0 28.83 26.59 28.83

8220 1.39 119.5 3553 3754 2314 2143 228.1 20.4 365 8225 0.00 1.38 0.00 0.000 1030 0.000 0.024 3561 2796 2229 2315 2143 0 0 0 0 0 0 28.83 26.67 28.83

8535 1.39 119.5 3561 2791 2313 2142 165.7 19.1 381 8540 0.00 1.50 0.00 0.000 260 0.000 0.043 3561 3759 2228 2314 2142 0 0 0 0 0 0 28.83 26.62 28.83

8770 1.39 119.5 3560 3759 2314 2142 133.7 14.2 392 8776 0.10 1.38 0.00 0.000 5126 0.219 0.023 3526 2789 2228 2314 2142 0 0 0 0 0 0 26.44 26.70 28.83

9086 1.39 119.5 3525 2788 2314 2142 91.3 11.0 408 9091 0.00 1.50 0.00 0.000 260 0.000 0.041 3526 3761 2228 2314 2142 0 0 0 0 0 0 28.83 26.65 28.83

9202 1.39 119.5 3526 3761 2314 2142 76.4 14.8 413 9207 0.00 1.35 0.00 0.000 1030 0.000 0.022 3532 2801 2228 2314 2142 0 0 0 0 0 0 28.83 26.72 28.83

9494 end climb: NO_VERTICAL_VELOCITY

state 9494 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MAX	3764	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	16	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	35	ESCAPE_HEADING	0	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2800	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	1010	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	93	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	554.9259	R_STBD_OVSHOOT	77	XPDR_VALID	0
D_BOOST	120	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	4	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	460	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2763	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	350	CALL_WAIT	60	PITCH_VBD_SHIFT	0.003	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	5	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	-7	T_GPS_CHARGE	-974739.12	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	150	MINV_24V	22	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3944	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3085	FG_AHR_10V	0	SEABIRD_T_G	0.0043557216
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062581268
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PHONE_SUPPLY	-2	SEABIRD_T_I	2.3904395e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-15.330984	SEABIRD_T_J	2.614597e-06
MASS	52152	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001158971	SEABIRD_C_G	-10.14994
MASS_COMP	0	PITCH_TIMEOUT	19	AD7714Ch0Gain	128	SEABIRD_C_H	1.1477706
NAV_MODE	0	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0022030354
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00024289287
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	187	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	250613,122923,2200.049,12024.382,46,0.8,46,-3.1	TGT_NAME	T1
_CALLS	1	TGT_LATLONG	2200.000,12024.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250613,123633,2200.105,12024.443,9,0.8,9,-3.1	MHEAD_RNG_PITCHd_Wd	258.8,785,-27.8,-10.000,-30.00,969
SPEED_LIMITS	0.173,0.296	D_GRID	948

FREEZE	68.00,22.712,-1.927,0,1,0	_24V_AH	24.0,4.185
SM_CCo	9499,202.25,0.259,0,0,459,564.93	_10V_AH	10.2,3.431
SM_GC	1.76,8.77,1.30,0.00,0.033,0.028,0.000,142,1935,488,-9.14,2.46,558.30,0,0,0,0,0,0,26.05,26.08,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2150.42,12019.57,250613,090951	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	324532
HUMID	56.49	DATA_FILE_SIZE	16775,428
INTERNAL_PRESSURE	9.39489	CAP_FILE_SIZE	114138,0
TCM_TEMP	23.10	CFSIZE	260034560,246853632
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	7702752	GPS	250613,152405,2200.094,12023.827,34,1.1,34,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	236	122.54	nil	0	0	0.00
Roll_motor	61	45	66.84	nil	0	0	0.00
VBD_pump_during_apogee	215	1142	5917.30	nil	0	0	0.00
VBD_pump_during_surface	202	258	1255.10	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	9499	16	3686.37
Iridium_during_xfer	240	119	687.90	nil	0	0	0.00
Transponder_ping	0	420	5.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.77
TT8	1647	13	234.55
LPSleep	6187	2	138.22
TT8_Active	520	13	74.05
TT8_Sampling	1660	40	680.35
TT8_CF8	359	47	174.90
TT8_Kalman	0	0	0.00
Analog_circuits	1499	16	244.71
GPS_charging	0	0	0.00
Compass	1385	5	70.64
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.22	-63.1	110	1943	434	564	0.0	0.0	0	111	0.00	0.00	-82.28	0.000	16386	0.000	0.000	110	1944	2521	2499	2543	0	0	0	0	0	0	28.83	28.83	28.83
116	-1.39	-119.5	110	1944	2500	2543	3.1	-4.0	15	146	9.90	0.00	-14.23	0.000	18694	0.236	0.000	2632	1944	3253	3249	3258	0	0	0	0	0	0	25.89	28.83	26.40
460	-1.39	-119.5	2632	1944	3250	3263	111.7	-26.2	43	461	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	1944	3256	3250	3263	0	0	0	0	0	0	28.83	28.83	28.83
763	-1.39	-119.5	2632	1944	3251	3264	180.4	-24.1	58	764	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	1944	3257	3251	3263	0	0	0	0	0	0	28.83	28.83	28.83
1063	-1.39	-119.5	2632	1944	3249	3264	253.1	-25.5	73	1068	0.00	1.95	0.00	0.000	260	0.000	0.034	2623	3277	3257	3250	3264	0	0	0	0	0	0	28.83	26.53	28.83
1298	-1.39	-119.5	2623	3277	3250	3263	296.9	-18.5	84	1304	0.00	1.92	0.00	0.000	1030	0.000	0.018	2624	1919	3257	3251	3263	0	0	0	0	0	0	28.83	26.60	28.83
1613	-1.39	-119.5	2623	1918	3250	3260	362.0	-20.0	100	1618	0.00	2.00	0.00	0.000	260	0.000	0.031	2615	3282	3254	3250	3259	0	0	0	0	0	0	28.83	26.61	28.83
1667	-1.39	-119.5	2614	3282	3250	3259	371.1	-20.6	102	1672	0.00	1.95	0.00	0.000	1030	0.000	0.018	2614	1897	3254	3250	3259	0	0	0	0	0	0	28.83	26.65	28.83
1981	-1.39	-119.5	2615	1897	3250	3256	428.9	-16.9	118	1986	0.00	2.00	0.00	0.000	516	0.000	0.031	2614	508	3252	3250	3255	0	0	0	0	0	0	28.83	26.65	28.83
2035	-1.39	-119.5	2614	507	3250	3255	436.5	-16.8	120	2041	0.12	1.95	0.00	0.000	3078	0.207	0.018	2631	1888	3252	3250	3254	0	0	0	0	0	0	26.49	26.67	28.83
2350	-1.39	-119.5	2631	1888	3250	3251	490.2	-16.7	136	2355	0.00	2.05	0.00	0.000	260	0.000	0.035	2624	3289	3250	3250	3251	0	0	0	0	0	0	28.83	26.66	28.83
2587	-1.39	-119.5	2623	3290	3250	3247	531.9	-18.8	147	2592	0.00	1.98	0.00	0.000	1030	0.000	0.018	2623	1894	3248	3250	3246	0	0	0	0	0	0	28.83	26.71	28.83
2902	-1.39	-119.5	2623	1894	3250	3243	601.8	-21.8	163	2907	0.00	2.05	0.00	0.000	260	0.000	0.033	2614	3288	3246	3250	3242	0	0	0	0	0	0	28.83	26.69	28.83
2997	-1.39	-119.5	2614	3288	3250	3240	621.9	-21.5	166	3002	0.00	1.98	0.00	0.000	1030	0.000	0.018	2614	1901	3245	3250	3240	0	0	0	0	0	0	28.83	26.73	28.83
3334	-1.39	-119.5	2614	1901	3250	3236	684.3	-17.8	177	3339	0.00	2.05	0.00	0.000	260	0.000	0.034	2605	3292	3242	3250	3235	0	0	0	0	0	0	28.83	26.70	28.83
3429	-1.39	-119.5	2605	3292	3250	3234	701.1	-17.3	180	3435	0.12	2.00	0.00	0.000	3078	0.207	0.019	2632	1884	3241	3250	3233	0	0	0	0	0	0	26.54	26.73	28.83
3764	-1.39	-119.5	2632	1883	3250	3229	752.3	-15.1	191	3765	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	1883	3239	3250	3229	0	0	0	0	0	0	28.83	28.83	28.83
4064	-1.39	-119.5	2633	1883	3250	3224	798.1	-15.3	201	4070	0.00	2.10	0.00	0.000	260	0.000	0.035	2626	3295	3237	3250	3224	0	0	0	0	0	0	28.83	26.70	28.83
4133	-1.39	-119.5	1632	3293	3212	3216	809.0	-16.0	203	4138	0.00	1.98	0.00	0.000	1030	0.000	0.019	2626	1903	3236	3250	3223	0	0	0	0	0	0	28.83	26.75	28.83
4465	-1.39	-119.5	2626	1904	3250	3219	865.9	-17.7	214	4470	0.00	2.03	0.00	0.000	516	0.000	0.033	2626	513	3234	3250	3218	0	0	0	0	0	0	28.83	26.72	28.83
4519	-1.39	-119.5	2626	513	3250	3218	872.2	-17.5	215	4524	0.00	1.98	0.00	0.000	1030	0.000	0.019	2617	1898	3234	3250	3218	0	0	0	0	0	0	28.83	26.74	28.83
4833	-1.39	-119.5	2617	1899	3250	3215	921.0	-10.3	226	4839	0.00	2.08	0.00	0.000	260	0.000	0.039	2617	3295	3232	3250	3214	0	0	0	0	0	0	28.83	26.71	28.83
5046	end dive: NO_VERTICAL_VELOCITY
state	5046	begin apogee
5055	-0.19	0.0	2617	2784	3250	3212	921.1	0.0	233	5168	1.10	0.00	105.53	1.143	10246	0.085	0.000	3018	2783	2753	2809	2698	0	0	0	0	0	0	26.66	28.83	24.20
5173	end apogee: CONTROL_FINISHED_OK
state	5173	begin climb
5176	1.39	119.5	3018	2783	2803	2685	920.7	0.0	237	5300	1.40	1.60	110.20	1.095	10500	0.047	0.044	3540	3723	2260	2328	2192	0	0	0	0	0	0	25.08	24.65	23.97
5530	1.39	119.5	3539	3723	2320	2162	851.4	26.5	248	5536	0.00	1.35	0.00	0.000	1030	0.000	0.025	3547	2820	2241	2320	2162	0	0	0	0	0	0	28.83	25.87	28.83
5836	1.39	119.5	3547	2819	2320	2155	765.6	26.6	259	5841	0.00	2.10	0.00	0.000	516	0.000	0.029	3557	1412	2237	2320	2155	0	0	0	0	0	0	28.83	26.17	28.83
5992	1.39	119.5	3557	1412	2320	2153	725.2	25.8	264	5997	0.00	2.08	0.00	0.000	1030	0.000	0.031	3557	2779	2236	2320	2153	0	0	0	0	0	0	28.83	26.25	28.83
6331	1.39	119.5	3557	2779	2320	2150	637.0	25.3	275	6336	0.00	1.52	0.00	0.000	260	0.000	0.045	3557	3789	2235	2320	2150	0	0	0	0	0	0	28.83	26.36	28.83
6565	1.39	119.5	3557	3789	2314	2151	579.6	25.1	284	6571	0.08	1.45	0.00	0.000	5126	0.226	0.025	3537	2794	2232	2314	2151	0	0	0	0	0	0	26.24	26.48	28.83
6881	1.39	119.5	3537	2791	2314	2148	509.0	22.1	300	6886	0.00	1.52	0.00	0.000	260	0.000	0.044	3537	3795	2231	2314	2148	0	0	0	0	0	0	28.83	26.48	28.83
7118	1.39	119.5	3537	3795	2314	2148	457.3	22.2	311	7123	0.00	1.45	0.00	0.000	1030	0.000	0.024	3544	2792	2231	2315	2148	0	0	0	0	0	0	28.83	26.58	28.83
7432	1.39	119.5	3543	2789	2314	2145	394.4	18.7	327	7437	0.00	2.00	0.00	0.000	516	0.000	0.028	3554	1419	2229	2314	2145	0	0	0	0	0	0	28.83	26.57	28.83
7669	1.39	119.5	3553	1419	2314	2144	348.6	20.3	338	7674	0.00	2.05	0.00	0.000	1030	0.000	0.030	3554	2803	2229	2314	2144	0	0	0	0	0	0	28.83	26.58	28.83
7984	1.39	119.5	3553	2803	2314	2142	273.8	21.9	354	7989	0.00	1.45	0.00	0.000	260	0.000	0.043	3554	3754	2228	2314	2143	0	0	0	0	0	0	28.83	26.59	28.83
8220	1.39	119.5	3553	3754	2314	2143	228.1	20.4	365	8225	0.00	1.38	0.00	0.000	1030	0.000	0.024	3561	2796	2229	2315	2143	0	0	0	0	0	0	28.83	26.67	28.83
8535	1.39	119.5	3561	2791	2313	2142	165.7	19.1	381	8540	0.00	1.50	0.00	0.000	260	0.000	0.043	3561	3759	2228	2314	2142	0	0	0	0	0	0	28.83	26.62	28.83
8770	1.39	119.5	3560	3759	2314	2142	133.7	14.2	392	8776	0.10	1.38	0.00	0.000	5126	0.219	0.023	3526	2789	2228	2314	2142	0	0	0	0	0	0	26.44	26.70	28.83
9086	1.39	119.5	3525	2788	2314	2142	91.3	11.0	408	9091	0.00	1.50	0.00	0.000	260	0.000	0.041	3526	3761	2228	2314	2142	0	0	0	0	0	0	28.83	26.65	28.83
9202	1.39	119.5	3526	3761	2314	2142	76.4	14.8	413	9207	0.00	1.35	0.00	0.000	1030	0.000	0.022	3532	2801	2228	2314	2142	0	0	0	0	0	0	28.83	26.72	28.83
9494	end climb: NO_VERTICAL_VELOCITY
state	9494	begin surface