Glider dive log

OKMC 16May13 * SG181 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 181 HD_C 1.5e-05 ROLL_MAX 3785 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 11 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 35 ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 73 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 450 R_STBD_OVSHOOT 28 XPDR_VALID 2

D_BOOST 150 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 440 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2753 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -8 T_GPS_CHARGE -95716.102 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE 149

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 250 MINV_24V 12 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3941 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2700 FG_AHR_10V 0 SEABIRD_T_G 0.004364301

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062910328

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.4425184e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -160.75446 SEABIRD_T_J 2.6404416e-06

MASS 52184 PITCH_GAIN 20 PRESSURE_SLOPE 0.000109412 SEABIRD_C_G -9.9046793

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 1 SEABIRD_C_H 1.1251128

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0019873739

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00023203803

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0033 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0082 ROLL_MIN 209 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY 2 SEABIRD_T_J 2.6404416e-06

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3941 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 250 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.0033 PRESSURE_SLOPE 0.000109412 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0082 PRESSURE_YINT -160.75446 T_BOOST 5

CALL_WAIT 60 HD_C 1.5e-05 PROTOCOL 9 T_DIVE 330

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -95716.102

COMPASS2_DEVICE 149 ID 181 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 360

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_RSLEEP 3

C_PITCH 2700 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2375 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 2400 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2753 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3785 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52184 ROLL_MAXERRORS 2 USE_BATHY -8

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 209 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 R_PORT_OVSHOOT 73 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 28 VBD_DBAND 2

DEVICE4 -1 MISSION 11 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 440

DIVE 35 NOCOMM_ACTION 163 SEABIRD_C_G -9.9046793 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_H 1.1251128 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 150 N_FILEKB 8 SEABIRD_C_I -0.0019873739 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00023203803 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.004364301 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062910328 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_I 2.4425184e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 200513,200830,2147.196,12039.784,39,1.4,39,-2.7 TGT_NAME DOGLEG2

_CALLS 1 TGT_LATLONG 2145.000,12042.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200513,201513,2147.242,12039.742,13,1.4,13,-2.7 MHEAD_RNG_PITCHd_Wd 136.0,5685,-14.3,-10.000,-17.31,2952

SPEED_LIMITS 0.173,0.321 D_GRID 642

Post-dive calculations and measurements:

FINISH -0.1,1.021685 _10V_AH 13.8,0.000

SM_CCo 7546,44.35,0.151,0,0,917,450.13 FG_AHR_24Vo 0.000

SM_GC 0.07,7.68,2.20,44.35,0.050,0.041,0.151,227,2400,917,-7.63,1.67,450.13,0,0,0,0,0,0,14.90,14.90,14.76 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2148.09,12045.48,200513,171702 MEM 323056

TT8_MAMPS 0.019474,0.019474 DATA_FILE_SIZE 16780,438

HUMID 45.74 CAP_FILE_SIZE 100827,0

INTERNAL_PRESSURE 9.68787 CFSIZE 260034560,252960768

TCM_TEMP 24.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 19 CURRENT 0.198,326.4,1

SC_FREEKB 3924672 GPS 200513,222307,2147.187,12040.190,13,1.1,13,-2.7

_24V_AH 13.7,31.958

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 416 117.66 nil 0 0 0.00

Roll_motor 75 221 228.53 nil 0 0 0.00

VBD_pump_during_apogee 420 1380 7958.83 nil 0 0 0.00

VBD_pump_during_surface 44 151 92.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 112 42.91 nil 0 0 0.00

Iridium_during_connect 49 160 108.96 SciCon 7555 6 677.02

Iridium_during_xfer 168 223 514.48 nil 0 0 0.00

Transponder_ping 4 420 27.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 20 4.68

TT8 1337 10 202.33

LPSleep 4686 2 141.63

TT8_Active 530 10 80.18

TT8_Sampling 1370 28 547.27

TT8_CF8 86 35 42.72

TT8_Kalman 0 0 0.00

Analog_circuits 1147 16 253.36

GPS_charging 0 0 0.00

Compass 1012 6 94.22

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.91 -194.6 205 2395 920 917 0.0 0.0 0 109 0.00 0.00 -88.12 0.000 16386 0.000 0.000 205 2396 3103 3150 3057 0 0 0 0 0 0 28.83 28.83 28.83

112 -0.91 -194.6 205 2396 3150 3064 3.2 -10.3 15 138 10.30 2.20 -7.90 0.000 18948 0.417 0.063 2400 997 3549 3633 3466 0 0 0 0 0 0 14.50 14.78 14.97

365 -0.91 -194.6 2400 997 3634 3468 90.4 -27.5 37 370 0.00 2.28 0.00 0.000 1030 0.000 0.059 2392 2410 3551 3634 3468 0 0 0 0 0 0 28.83 14.82 28.83

687 -0.91 -194.6 2392 2410 3637 3469 165.2 -19.3 53 692 0.00 2.17 0.00 0.000 516 0.000 0.046 2392 1017 3553 3637 3469 0 0 0 0 0 0 28.83 14.91 28.83

763 -0.91 -194.6 2392 1015 3638 3469 177.3 -19.2 56 770 0.00 2.22 0.00 0.000 1030 0.000 0.058 2382 2404 3553 3638 3469 0 0 0 0 0 0 28.83 14.90 28.83

1070 -0.91 -194.6 2382 2404 3637 3469 242.9 -19.7 72 1075 0.00 2.22 0.00 0.000 260 0.000 0.079 2372 3783 3554 3638 3470 0 0 0 0 0 0 28.83 14.92 28.83

1096 -0.91 -194.6 2372 3783 3638 3469 247.6 -19.6 73 1102 0.15 2.08 0.00 0.000 3078 0.272 0.035 2405 2392 3553 3637 3469 0 0 0 0 0 0 14.80 14.98 28.83

1414 -0.91 -194.6 2405 2387 3638 3466 305.7 -18.4 89 1420 0.00 2.10 0.00 0.000 516 0.000 0.046 2405 1018 3553 3638 3469 0 0 0 0 0 0 28.83 14.97 28.83

1497 -0.91 -194.6 2405 1019 3639 3469 320.4 -17.6 93 1503 0.00 2.22 0.00 0.000 1030 0.000 0.060 2398 2411 3553 3638 3469 0 0 0 0 0 0 28.83 14.96 28.83

1820 -0.91 -194.6 2398 2412 3637 3465 376.4 -16.7 109 1825 0.00 2.20 0.00 0.000 260 0.000 0.083 2388 3773 3551 3638 3465 0 0 0 0 0 0 28.83 14.96 28.83

1906 -0.91 -194.6 2388 3774 3638 3463 392.3 -19.7 113 1912 0.00 2.05 0.00 0.000 1030 0.000 0.039 2388 2416 3551 3638 3464 0 0 0 0 0 0 28.83 15.01 28.83

2224 -0.91 -194.6 2387 2411 3638 3462 447.7 -17.6 129 2229 0.00 2.22 0.00 0.000 260 0.000 0.082 2377 3780 3549 3638 3461 0 0 0 0 0 0 28.83 14.97 28.83

2234 -0.91 -194.6 2378 3780 3638 3461 447.7 -17.6 129 2241 0.12 2.10 0.00 0.000 3078 0.280 0.038 2404 2380 3549 3638 3461 0 0 0 0 0 0 14.85 15.04 28.83

2548 -0.91 -194.6 2405 2375 3638 3457 494.0 -13.7 145 2554 0.00 2.12 0.00 0.000 516 0.000 0.049 2404 1008 3547 3638 3457 0 0 0 0 0 0 28.83 15.01 28.83

2631 -0.91 -194.6 2404 1007 3638 3456 505.8 -14.3 149 2636 0.00 2.22 0.00 0.000 1030 0.000 0.060 2398 2396 3547 3638 3456 0 0 0 0 0 0 28.83 14.99 28.83

2953 -0.91 -194.6 2397 2396 3638 3452 552.9 -14.3 165 2959 0.00 2.25 0.00 0.000 260 0.000 0.089 2387 3777 3544 3637 3451 0 0 0 0 0 0 28.83 14.96 28.83

2996 -0.91 -194.6 2387 3777 3636 3451 559.8 -15.4 167 3002 0.00 2.10 0.00 0.000 1030 0.000 0.041 2387 2399 3543 3635 3451 0 0 0 0 0 0 28.83 15.03 28.83

3319 -0.91 -194.6 2387 2397 3634 3448 613.0 -16.9 182 3320 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2397 3540 3634 3447 0 0 0 0 0 0 28.83 28.83 28.83

3528 end dive: TARGET_DEPTH_EXCEEDED

state 3528 begin apogee

3532 -0.25 0.0 2387 2396 3636 3446 644.4 -14.6 189 3715 0.77 0.00 175.38 1.380 10246 0.227 0.000 2613 2396 2750 2782 2719 0 0 0 0 0 0 14.85 28.83 13.78

3717 end apogee: CONTROL_FINISHED_OK

state 3717 begin climb

3718 0.91 194.6 2614 2396 2781 2717 648.5 0.0 195 3904 1.15 2.42 176.40 1.357 10500 0.126 0.085 2987 3780 1955 1988 1922 0 0 0 0 0 0 14.28 14.20 13.70

3915 0.91 194.6 2987 3781 1986 1918 625.8 15.7 201 3922 0.00 2.25 0.00 0.000 1030 0.000 0.039 2998 2373 1950 1985 1916 0 0 0 0 0 0 28.83 14.35 28.83

4222 0.91 194.6 2998 2369 1986 1903 557.5 20.4 215 4228 0.00 2.38 0.00 0.000 260 0.000 0.088 2998 3775 1943 1986 1900 0 0 0 0 0 0 28.83 14.71 28.83

4249 0.91 194.6 2064 3775 1948 1892 552.2 20.8 216 4255 0.00 2.17 0.00 0.000 1030 0.000 0.040 3008 2376 1942 1985 1900 0 0 0 0 0 0 28.83 14.78 28.83

4566 0.91 194.6 3009 2369 1985 1895 479.9 21.1 232 4572 0.00 2.38 0.00 0.000 260 0.000 0.088 3008 3785 1940 1986 1895 0 0 0 0 0 0 28.83 14.81 28.83

4593 0.91 194.6 3009 3785 1986 1895 475.1 21.0 233 4599 0.00 2.17 0.00 0.000 1030 0.000 0.040 3019 2375 1941 1986 1896 0 0 0 0 0 0 28.83 14.88 28.83

4911 0.91 194.6 3019 2370 1986 1893 404.2 22.0 249 4912 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2370 1939 1985 1893 0 0 0 0 0 0 28.83 28.83 28.83

5212 0.91 194.6 3019 2370 1984 1890 342.6 20.3 264 5217 0.00 2.20 0.00 0.000 516 0.000 0.053 3029 982 1937 1985 1890 0 0 0 0 0 0 28.83 14.94 28.83

5248 0.91 194.6 3029 982 1985 1890 337.6 20.5 265 5256 0.15 2.25 0.00 0.000 5126 0.282 0.057 2997 2382 1937 1985 1890 0 0 0 0 0 0 14.78 14.91 28.83

5554 0.91 194.6 2997 2382 1985 1887 281.3 17.7 281 5560 0.00 2.30 0.00 0.000 260 0.000 0.089 2997 3775 1936 1985 1887 0 0 0 0 0 0 28.83 14.91 28.83

5591 0.91 194.6 2996 3775 1985 1888 276.6 18.8 282 5597 0.00 2.15 0.00 0.000 1030 0.000 0.040 3004 2371 1936 1985 1887 0 0 0 0 0 0 28.83 14.97 28.83

5897 0.91 194.6 3005 2367 1984 1886 214.2 20.3 298 5902 0.00 2.20 0.00 0.000 516 0.000 0.052 3015 975 1935 1984 1886 0 0 0 0 0 0 28.83 14.95 28.83

5983 0.91 194.6 3014 975 1984 1886 198.2 19.5 302 5989 0.00 2.25 0.00 0.000 1030 0.000 0.059 3015 2374 1935 1984 1886 0 0 0 0 0 0 28.83 14.94 28.83

6301 0.91 194.6 3015 2374 1984 1885 139.8 17.4 318 6306 0.00 2.30 0.00 0.000 260 0.000 0.086 3014 3774 1934 1984 1885 0 0 0 0 0 0 28.83 14.92 28.83

6387 0.91 194.6 3015 3775 1984 1885 123.6 19.8 322 6393 0.15 2.15 0.00 0.000 5126 0.304 0.039 2993 2365 1934 1984 1885 0 0 0 0 0 0 14.78 14.98 28.83

6705 0.91 194.6 2993 2360 1985 1884 83.1 11.7 338 6710 0.00 2.35 0.00 0.000 260 0.000 0.086 2993 3778 1934 1984 1884 0 0 0 0 0 0 28.83 14.92 28.83

6822 0.91 194.6 2993 3778 1984 1884 69.0 14.2 343 6829 0.00 2.15 0.00 0.000 1030 0.000 0.039 3001 2367 1934 1984 1884 0 0 0 0 0 0 28.83 14.98 28.83

7128 0.93 220.5 3001 2363 1984 1884 31.2 9.1 368 7140 0.00 0.00 9.55 0.231 8198 0.000 0.000 3002 2363 1853 1897 1810 0 0 0 0 0 0 28.83 28.83 14.78

7439 1.06 349.2 3002 2363 1904 1822 9.7 5.5 423 7506 0.12 2.35 59.62 0.168 10500 0.133 0.080 3066 3784 1326 1363 1290 0 0 0 0 0 0 14.92 14.83 14.76

7512 end climb: SURFACE_DEPTH_REACHED

state 7512 begin surface coast

7529 end surface coast: CONTROL_FINISHED_OK

state 7529 begin surface

ID	181	HD_C	1.5e-05	ROLL_MAX	3785	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	11	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	35	ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	73	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	450	R_STBD_OVSHOOT	28	XPDR_VALID	2
D_BOOST	150	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	440	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2753	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-8	T_GPS_CHARGE	-95716.102	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	149
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	250	MINV_24V	12	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3941	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2700	FG_AHR_10V	0	SEABIRD_T_G	0.004364301
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062910328
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.4425184e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-160.75446	SEABIRD_T_J	2.6404416e-06
MASS	52184	PITCH_GAIN	20	PRESSURE_SLOPE	0.000109412	SEABIRD_C_G	-9.9046793
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	1	SEABIRD_C_H	1.1251128
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0019873739
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00023203803
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0033	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0082	ROLL_MIN	209	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	200513,200830,2147.196,12039.784,39,1.4,39,-2.7	TGT_NAME	DOGLEG2
_CALLS	1	TGT_LATLONG	2145.000,12042.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200513,201513,2147.242,12039.742,13,1.4,13,-2.7	MHEAD_RNG_PITCHd_Wd	136.0,5685,-14.3,-10.000,-17.31,2952
SPEED_LIMITS	0.173,0.321	D_GRID	642

FINISH	-0.1,1.021685	_10V_AH	13.8,0.000
SM_CCo	7546,44.35,0.151,0,0,917,450.13	FG_AHR_24Vo	0.000
SM_GC	0.07,7.68,2.20,44.35,0.050,0.041,0.151,227,2400,917,-7.63,1.67,450.13,0,0,0,0,0,0,14.90,14.90,14.76	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2148.09,12045.48,200513,171702	MEM	323056
TT8_MAMPS	0.019474,0.019474	DATA_FILE_SIZE	16780,438
HUMID	45.74	CAP_FILE_SIZE	100827,0
INTERNAL_PRESSURE	9.68787	CFSIZE	260034560,252960768
TCM_TEMP	24.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	19	CURRENT	0.198,326.4,1
SC_FREEKB	3924672	GPS	200513,222307,2147.187,12040.190,13,1.1,13,-2.7
_24V_AH	13.7,31.958

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	416	117.66	nil	0	0	0.00
Roll_motor	75	221	228.53	nil	0	0	0.00
VBD_pump_during_apogee	420	1380	7958.83	nil	0	0	0.00
VBD_pump_during_surface	44	151	92.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	112	42.91	nil	0	0	0.00
Iridium_during_connect	49	160	108.96	SciCon	7555	6	677.02
Iridium_during_xfer	168	223	514.48	nil	0	0	0.00
Transponder_ping	4	420	27.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	20	4.68
TT8	1337	10	202.33
LPSleep	4686	2	141.63
TT8_Active	530	10	80.18
TT8_Sampling	1370	28	547.27
TT8_CF8	86	35	42.72
TT8_Kalman	0	0	0.00
Analog_circuits	1147	16	253.36
GPS_charging	0	0	0.00
Compass	1012	6	94.22
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.91	-194.6	205	2395	920	917	0.0	0.0	0	109	0.00	0.00	-88.12	0.000	16386	0.000	0.000	205	2396	3103	3150	3057	0	0	0	0	0	0	28.83	28.83	28.83
112	-0.91	-194.6	205	2396	3150	3064	3.2	-10.3	15	138	10.30	2.20	-7.90	0.000	18948	0.417	0.063	2400	997	3549	3633	3466	0	0	0	0	0	0	14.50	14.78	14.97
365	-0.91	-194.6	2400	997	3634	3468	90.4	-27.5	37	370	0.00	2.28	0.00	0.000	1030	0.000	0.059	2392	2410	3551	3634	3468	0	0	0	0	0	0	28.83	14.82	28.83
687	-0.91	-194.6	2392	2410	3637	3469	165.2	-19.3	53	692	0.00	2.17	0.00	0.000	516	0.000	0.046	2392	1017	3553	3637	3469	0	0	0	0	0	0	28.83	14.91	28.83
763	-0.91	-194.6	2392	1015	3638	3469	177.3	-19.2	56	770	0.00	2.22	0.00	0.000	1030	0.000	0.058	2382	2404	3553	3638	3469	0	0	0	0	0	0	28.83	14.90	28.83
1070	-0.91	-194.6	2382	2404	3637	3469	242.9	-19.7	72	1075	0.00	2.22	0.00	0.000	260	0.000	0.079	2372	3783	3554	3638	3470	0	0	0	0	0	0	28.83	14.92	28.83
1096	-0.91	-194.6	2372	3783	3638	3469	247.6	-19.6	73	1102	0.15	2.08	0.00	0.000	3078	0.272	0.035	2405	2392	3553	3637	3469	0	0	0	0	0	0	14.80	14.98	28.83
1414	-0.91	-194.6	2405	2387	3638	3466	305.7	-18.4	89	1420	0.00	2.10	0.00	0.000	516	0.000	0.046	2405	1018	3553	3638	3469	0	0	0	0	0	0	28.83	14.97	28.83
1497	-0.91	-194.6	2405	1019	3639	3469	320.4	-17.6	93	1503	0.00	2.22	0.00	0.000	1030	0.000	0.060	2398	2411	3553	3638	3469	0	0	0	0	0	0	28.83	14.96	28.83
1820	-0.91	-194.6	2398	2412	3637	3465	376.4	-16.7	109	1825	0.00	2.20	0.00	0.000	260	0.000	0.083	2388	3773	3551	3638	3465	0	0	0	0	0	0	28.83	14.96	28.83
1906	-0.91	-194.6	2388	3774	3638	3463	392.3	-19.7	113	1912	0.00	2.05	0.00	0.000	1030	0.000	0.039	2388	2416	3551	3638	3464	0	0	0	0	0	0	28.83	15.01	28.83
2224	-0.91	-194.6	2387	2411	3638	3462	447.7	-17.6	129	2229	0.00	2.22	0.00	0.000	260	0.000	0.082	2377	3780	3549	3638	3461	0	0	0	0	0	0	28.83	14.97	28.83
2234	-0.91	-194.6	2378	3780	3638	3461	447.7	-17.6	129	2241	0.12	2.10	0.00	0.000	3078	0.280	0.038	2404	2380	3549	3638	3461	0	0	0	0	0	0	14.85	15.04	28.83
2548	-0.91	-194.6	2405	2375	3638	3457	494.0	-13.7	145	2554	0.00	2.12	0.00	0.000	516	0.000	0.049	2404	1008	3547	3638	3457	0	0	0	0	0	0	28.83	15.01	28.83
2631	-0.91	-194.6	2404	1007	3638	3456	505.8	-14.3	149	2636	0.00	2.22	0.00	0.000	1030	0.000	0.060	2398	2396	3547	3638	3456	0	0	0	0	0	0	28.83	14.99	28.83
2953	-0.91	-194.6	2397	2396	3638	3452	552.9	-14.3	165	2959	0.00	2.25	0.00	0.000	260	0.000	0.089	2387	3777	3544	3637	3451	0	0	0	0	0	0	28.83	14.96	28.83
2996	-0.91	-194.6	2387	3777	3636	3451	559.8	-15.4	167	3002	0.00	2.10	0.00	0.000	1030	0.000	0.041	2387	2399	3543	3635	3451	0	0	0	0	0	0	28.83	15.03	28.83
3319	-0.91	-194.6	2387	2397	3634	3448	613.0	-16.9	182	3320	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2397	3540	3634	3447	0	0	0	0	0	0	28.83	28.83	28.83
3528	end dive: TARGET_DEPTH_EXCEEDED
state	3528	begin apogee
3532	-0.25	0.0	2387	2396	3636	3446	644.4	-14.6	189	3715	0.77	0.00	175.38	1.380	10246	0.227	0.000	2613	2396	2750	2782	2719	0	0	0	0	0	0	14.85	28.83	13.78
3717	end apogee: CONTROL_FINISHED_OK
state	3717	begin climb
3718	0.91	194.6	2614	2396	2781	2717	648.5	0.0	195	3904	1.15	2.42	176.40	1.357	10500	0.126	0.085	2987	3780	1955	1988	1922	0	0	0	0	0	0	14.28	14.20	13.70
3915	0.91	194.6	2987	3781	1986	1918	625.8	15.7	201	3922	0.00	2.25	0.00	0.000	1030	0.000	0.039	2998	2373	1950	1985	1916	0	0	0	0	0	0	28.83	14.35	28.83
4222	0.91	194.6	2998	2369	1986	1903	557.5	20.4	215	4228	0.00	2.38	0.00	0.000	260	0.000	0.088	2998	3775	1943	1986	1900	0	0	0	0	0	0	28.83	14.71	28.83
4249	0.91	194.6	2064	3775	1948	1892	552.2	20.8	216	4255	0.00	2.17	0.00	0.000	1030	0.000	0.040	3008	2376	1942	1985	1900	0	0	0	0	0	0	28.83	14.78	28.83
4566	0.91	194.6	3009	2369	1985	1895	479.9	21.1	232	4572	0.00	2.38	0.00	0.000	260	0.000	0.088	3008	3785	1940	1986	1895	0	0	0	0	0	0	28.83	14.81	28.83
4593	0.91	194.6	3009	3785	1986	1895	475.1	21.0	233	4599	0.00	2.17	0.00	0.000	1030	0.000	0.040	3019	2375	1941	1986	1896	0	0	0	0	0	0	28.83	14.88	28.83
4911	0.91	194.6	3019	2370	1986	1893	404.2	22.0	249	4912	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2370	1939	1985	1893	0	0	0	0	0	0	28.83	28.83	28.83
5212	0.91	194.6	3019	2370	1984	1890	342.6	20.3	264	5217	0.00	2.20	0.00	0.000	516	0.000	0.053	3029	982	1937	1985	1890	0	0	0	0	0	0	28.83	14.94	28.83
5248	0.91	194.6	3029	982	1985	1890	337.6	20.5	265	5256	0.15	2.25	0.00	0.000	5126	0.282	0.057	2997	2382	1937	1985	1890	0	0	0	0	0	0	14.78	14.91	28.83
5554	0.91	194.6	2997	2382	1985	1887	281.3	17.7	281	5560	0.00	2.30	0.00	0.000	260	0.000	0.089	2997	3775	1936	1985	1887	0	0	0	0	0	0	28.83	14.91	28.83
5591	0.91	194.6	2996	3775	1985	1888	276.6	18.8	282	5597	0.00	2.15	0.00	0.000	1030	0.000	0.040	3004	2371	1936	1985	1887	0	0	0	0	0	0	28.83	14.97	28.83
5897	0.91	194.6	3005	2367	1984	1886	214.2	20.3	298	5902	0.00	2.20	0.00	0.000	516	0.000	0.052	3015	975	1935	1984	1886	0	0	0	0	0	0	28.83	14.95	28.83
5983	0.91	194.6	3014	975	1984	1886	198.2	19.5	302	5989	0.00	2.25	0.00	0.000	1030	0.000	0.059	3015	2374	1935	1984	1886	0	0	0	0	0	0	28.83	14.94	28.83
6301	0.91	194.6	3015	2374	1984	1885	139.8	17.4	318	6306	0.00	2.30	0.00	0.000	260	0.000	0.086	3014	3774	1934	1984	1885	0	0	0	0	0	0	28.83	14.92	28.83
6387	0.91	194.6	3015	3775	1984	1885	123.6	19.8	322	6393	0.15	2.15	0.00	0.000	5126	0.304	0.039	2993	2365	1934	1984	1885	0	0	0	0	0	0	14.78	14.98	28.83
6705	0.91	194.6	2993	2360	1985	1884	83.1	11.7	338	6710	0.00	2.35	0.00	0.000	260	0.000	0.086	2993	3778	1934	1984	1884	0	0	0	0	0	0	28.83	14.92	28.83
6822	0.91	194.6	2993	3778	1984	1884	69.0	14.2	343	6829	0.00	2.15	0.00	0.000	1030	0.000	0.039	3001	2367	1934	1984	1884	0	0	0	0	0	0	28.83	14.98	28.83
7128	0.93	220.5	3001	2363	1984	1884	31.2	9.1	368	7140	0.00	0.00	9.55	0.231	8198	0.000	0.000	3002	2363	1853	1897	1810	0	0	0	0	0	0	28.83	28.83	14.78
7439	1.06	349.2	3002	2363	1904	1822	9.7	5.5	423	7506	0.12	2.35	59.62	0.168	10500	0.133	0.080	3066	3784	1326	1363	1290	0	0	0	0	0	0	14.92	14.83	14.76
7512	end climb: SURFACE_DEPTH_REACHED
state	7512	begin surface coast
7529	end surface coast: CONTROL_FINISHED_OK
state	7529	begin surface