Glider dive log

OKMC Mar13 * SG177 * Dive index * Mission links * Dive 360 * 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 360 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2240 ALTIM_PING_DEPTH 0

N_DIVES 360 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 64 ALTIM_SENSITIVITY 0

D_ABORT 650 SM_CC 619.87311 R_STBD_OVSHOOT 100 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 1 VBD_MAX 3960 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 161 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 -23915.309 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 -23915.309

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 64 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 100 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 161 SEABIRD_C_G -9.9740562 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 360 N_DIVES 360 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 1 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 260513,165644,1843.812,12157.882,148,3.0,167,-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 -1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260513,171513,1843.688,12157.750,363,1.7,363,-2.1 MHEAD_RNG_PITCHd_Wd 57.7,4634,-6.4,-9.259,-7.02,3146

SPEED_LIMITS 0.160,0.759 D_GRID 1026

Post-dive calculations and measurements:

FINISH -0.1,1.021107 _10V_AH 10.3,41.985

SM_CCo 8060,67.47,0.049,0,0,464,619.87 FG_AHR_24Vo 0.000

SM_GC -1.63,8.55,0.12,67.47,0.062,0.083,0.049,138,2412,464,-8.62,-2.04,619.87,0,0,0,0,0,0,26.18,26.37,26.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1835.04,12155.98,260513,171721 MEM 321364

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 16766,439

HUMID 51.06 CAP_FILE_SIZE 225176,0

INTERNAL_PRESSURE 9.7074 CFSIZE 260034560,207237120

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

XPDR_PINGS 38 CURRENT 0.275,238.1,1

SC_FREEKB 3882304 GPS 260513,193350,1843.915,12157.870,79,3.0,98,-2.1

_24V_AH 24.6,44.935

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 236 124.30 nil 0 0 0.00

Roll_motor 60 83 124.15 nil 0 0 0.00

VBD_pump_during_apogee 489 697 8405.54 nil 0 0 0.00

VBD_pump_during_surface 67 48 81.27 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 8068 10 2120.28

Iridium_during_xfer 267 90 592.97 nil 0 0 0.00

Transponder_ping 9 420 98.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 366 30 115.85

TT8 1714 17 303.94

LPSleep 4797 2 108.22

TT8_Active 627 17 111.26

TT8_Sampling 1710 43 764.87

TT8_CF8 390 54 220.02

TT8_Kalman 0 0 0.00

Analog_circuits 1526 15 235.87

GPS_charging 0 0 0.00

Compass 1011 7 78.03

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 -0.63 -190.2 124 2413 470 456 0.0 0.0 0 121 0.00 0.00 -95.88 0.000 16386 0.000 0.000 124 2413 3001 3044 2958 0 0 0 0 0 0 28.83 28.83 28.83

125 -0.63 -190.2 128 2413 3044 2960 3.6 -13.8 13 159 10.68 2.12 -11.27 0.000 18948 0.236 0.046 2717 986 3772 3865 3679 0 0 0 0 0 0 25.66 26.28 26.70

257 -0.63 -190.2 2717 986 3865 3679 52.8 -29.3 25 266 0.00 1.90 0.00 0.000 1030 0.000 0.028 2710 2329 3772 3865 3679 0 0 0 0 0 0 28.83 26.34 28.83

561 -0.63 -190.2 2709 2330 3865 3679 133.6 -17.8 41 568 0.00 1.92 0.00 0.000 516 0.000 0.028 2710 977 3771 3865 3678 0 0 0 0 0 0 28.83 26.33 28.83

693 -0.63 -190.2 2710 977 3865 3679 156.3 -18.4 47 700 0.08 1.98 0.00 0.000 3078 0.184 0.026 2720 2382 3771 3864 3679 0 0 0 0 0 0 26.20 26.38 28.83

1016 -0.63 -190.2 2719 2382 3865 3679 202.7 -15.1 63 1022 0.00 1.95 0.00 0.000 260 0.000 0.041 2713 3706 3773 3867 3679 0 0 0 0 0 0 28.83 26.27 28.83

1093 -0.63 -190.2 2713 3706 3866 3679 213.4 -15.3 66 1099 0.00 1.90 0.00 0.000 1030 0.000 0.019 2713 2310 3772 3866 3679 0 0 0 0 0 0 28.83 26.53 28.83

1408 -0.63 -190.2 2713 2309 3866 3677 259.6 -12.4 82 1413 0.00 1.88 0.00 0.000 516 0.000 0.030 2713 982 3771 3865 3677 0 0 0 0 0 0 28.83 26.32 28.83

1469 -0.63 -190.2 2713 982 3865 3675 264.3 -11.2 84 1477 0.00 1.98 0.00 0.000 1030 0.000 0.027 2708 2380 3770 3865 3675 0 0 0 0 0 0 28.83 26.37 28.83

1776 -0.63 -190.2 2708 2381 3865 3670 300.0 -11.4 100 1777 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2381 3767 3865 3670 0 0 0 0 0 0 28.83 28.83 28.83

2075 -0.63 -190.2 2708 2381 3866 3664 342.0 -17.1 115 2081 0.00 2.03 0.00 0.000 516 0.000 0.030 2708 979 3764 3865 3664 0 0 0 0 0 0 28.83 26.28 28.83

2166 -0.63 -190.2 2708 979 3865 3662 356.0 -16.1 119 2173 0.08 1.98 0.00 0.000 3078 0.178 0.028 2722 2375 3764 3866 3662 0 0 0 0 0 0 26.17 26.34 28.83

2489 -0.63 -190.2 2722 2375 3863 3657 395.3 -10.9 135 2490 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2375 3760 3863 3657 0 0 0 0 0 0 28.83 28.83 28.83

2786 -0.63 -190.2 2722 2375 3859 3654 425.7 -10.3 150 2792 0.00 2.03 0.00 0.000 516 0.000 0.030 2723 975 3756 3858 3654 0 0 0 0 0 0 28.83 26.27 28.83

2862 -0.63 -190.2 2722 975 3856 3653 433.1 -11.1 153 2869 0.00 2.00 0.00 0.000 1030 0.000 0.027 2720 2378 3755 3857 3653 0 0 0 0 0 0 28.83 26.32 28.83

3178 -0.63 -190.2 2720 2379 3854 3649 473.8 -13.1 169 3179 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2379 3751 3854 3649 0 0 0 0 0 0 28.83 28.83 28.83

3396 end dive: TARGET_DEPTH_EXCEEDED

state 3396 begin apogee

3403 -0.20 0.0 2720 2195 3852 3646 502.6 -13.3 180 3555 0.43 0.00 146.80 0.698 10246 0.112 0.000 2861 2195 2992 3104 2880 0 0 0 0 0 0 25.87 28.83 24.65

3557 end apogee: CONTROL_FINISHED_OK

state 3560 begin climb

3562 0.63 190.2 2861 2195 3103 2876 512.5 0.0 186 3730 0.75 2.25 153.23 0.682 10500 0.074 0.041 3132 3640 2211 2339 2083 0 0 1 0 0 0 25.37 25.20 24.60

3791 0.78 261.2 3132 3640 2338 2074 510.0 6.9 196 3853 0.12 1.98 55.58 0.677 11270 0.080 0.021 3198 2258 1928 2053 1803 0 0 0 0 0 0 25.70 25.75 24.69

4173 0.78 261.2 3198 2258 2049 1784 447.1 18.2 215 4175 0.10 0.00 0.00 0.000 4102 0.187 0.000 3178 2258 1917 2049 1785 0 0 0 0 0 0 25.98 28.83 28.83

4472 0.78 261.2 3177 2258 2045 1781 402.9 13.2 230 4479 0.00 2.08 0.00 0.000 516 0.000 0.040 3180 874 1916 2047 1786 0 0 0 0 0 0 28.83 26.10 28.83

4519 0.78 261.2 3179 874 2047 1781 397.0 13.1 232 4525 0.00 1.98 0.00 0.000 1030 0.000 0.025 3180 2250 1914 2047 1781 0 0 0 0 0 0 28.83 26.23 28.83

4846 0.78 261.2 3179 2251 2044 1779 357.6 10.6 248 4847 0.00 0.00 0.00 0.000 6 0.000 0.000 3180 2251 1911 2043 1780 0 0 0 0 0 0 28.83 28.83 28.83

5144 0.78 261.2 3179 2251 2043 1777 324.3 12.0 263 5145 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 2251 1909 2042 1777 0 0 0 0 0 0 28.83 28.83 28.83

5445 0.78 261.2 3179 2251 2040 1775 281.2 15.1 278 5451 0.00 2.05 0.00 0.000 516 0.000 0.036 3187 869 1907 2040 1775 0 0 0 0 0 0 28.83 26.16 28.83

5479 0.78 261.2 3186 869 2040 1776 277.2 14.9 279 5485 0.00 1.95 0.00 0.000 1030 0.000 0.024 3187 2241 1908 2040 1776 0 0 0 0 0 0 28.83 26.30 28.83

5794 0.78 261.2 3186 2242 2039 1775 228.9 13.8 295 5800 0.00 2.08 0.00 0.000 260 0.000 0.040 3187 3636 1907 2039 1775 0 0 0 0 0 0 28.83 26.17 28.83

5850 0.78 261.2 3187 3636 2038 1774 222.7 13.4 297 5857 0.00 1.98 0.00 0.000 1030 0.000 0.022 3188 2252 1905 2037 1774 0 0 0 0 0 0 28.83 26.34 28.83

6166 0.82 281.0 3188 2252 2037 1773 191.5 8.6 313 6190 0.00 2.12 13.93 0.522 8452 0.000 0.039 3188 3633 1841 1968 1715 0 0 0 0 0 0 28.83 26.24 25.53

6204 0.86 302.3 3188 3636 1966 1714 189.4 8.6 314 6228 0.00 2.00 17.65 0.516 9222 0.000 0.022 3188 2234 1756 1880 1633 0 0 0 0 0 0 28.83 26.26 25.44

6542 0.86 302.3 3188 2234 1877 1624 149.5 10.7 331 6548 0.00 2.12 0.00 0.000 260 0.000 0.038 3188 3645 1750 1877 1624 0 0 0 0 0 0 28.83 26.10 28.83

6614 0.86 302.3 3188 3645 1875 1623 141.0 12.1 334 6620 0.00 2.00 0.00 0.000 1030 0.000 0.021 3188 2238 1749 1875 1623 0 0 0 0 0 0 28.83 26.27 28.83

6937 1.02 382.7 3188 2237 1875 1622 115.0 6.6 350 7008 0.17 2.08 61.42 0.444 10756 0.067 0.036 3300 853 1425 1536 1314 0 0 0 0 0 0 26.42 25.86 25.35

7191 1.02 382.7 3299 852 1532 1310 92.3 11.6 361 7200 0.17 2.00 0.00 0.000 5126 0.147 0.024 3253 2256 1420 1532 1309 0 0 0 0 0 0 25.70 26.08 28.83

7499 1.06 403.9 3252 2256 1532 1304 64.7 8.6 377 7522 0.00 2.05 15.15 0.413 8452 0.000 0.036 3252 3630 1339 1449 1229 0 0 0 0 0 0 28.83 26.15 25.60

7560 1.13 438.7 3252 3631 1449 1225 60.7 8.1 379 7592 0.12 1.98 26.00 0.395 11270 0.080 0.021 3328 2223 1201 1303 1100 0 0 0 0 0 0 26.14 26.21 25.46

7890 1.13 438.7 2304 2220 1264 1086 16.0 12.7 414 7900 0.12 1.98 0.00 0.000 4612 0.166 0.034 3299 877 1194 1297 1092 0 0 0 0 0 0 26.01 26.09 28.83

7930 1.13 438.7 3298 877 1297 1092 11.4 10.4 420 7938 0.00 1.92 0.00 0.000 1030 0.000 0.023 3299 2251 1195 1298 1092 0 0 0 0 0 0 28.83 26.23 28.83

8010 end climb: SURFACE_DEPTH_REACHED

state 8010 begin surface coast

8040 end surface coast: CONTROL_FINISHED_OK

state 8040 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	360	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2240	ALTIM_PING_DEPTH	0
N_DIVES	360	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	64	ALTIM_SENSITIVITY	0
D_ABORT	650	SM_CC	619.87311	R_STBD_OVSHOOT	100	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	1	VBD_MAX	3960	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	161	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	-23915.309	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	260513,165644,1843.812,12157.882,148,3.0,167,-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	-1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260513,171513,1843.688,12157.750,363,1.7,363,-2.1	MHEAD_RNG_PITCHd_Wd	57.7,4634,-6.4,-9.259,-7.02,3146
SPEED_LIMITS	0.160,0.759	D_GRID	1026

FINISH	-0.1,1.021107	_10V_AH	10.3,41.985
SM_CCo	8060,67.47,0.049,0,0,464,619.87	FG_AHR_24Vo	0.000
SM_GC	-1.63,8.55,0.12,67.47,0.062,0.083,0.049,138,2412,464,-8.62,-2.04,619.87,0,0,0,0,0,0,26.18,26.37,26.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1835.04,12155.98,260513,171721	MEM	321364
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	16766,439
HUMID	51.06	CAP_FILE_SIZE	225176,0
INTERNAL_PRESSURE	9.7074	CFSIZE	260034560,207237120
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
XPDR_PINGS	38	CURRENT	0.275,238.1,1
SC_FREEKB	3882304	GPS	260513,193350,1843.915,12157.870,79,3.0,98,-2.1
_24V_AH	24.6,44.935

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	236	124.30	nil	0	0	0.00
Roll_motor	60	83	124.15	nil	0	0	0.00
VBD_pump_during_apogee	489	697	8405.54	nil	0	0	0.00
VBD_pump_during_surface	67	48	81.27	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	8068	10	2120.28
Iridium_during_xfer	267	90	592.97	nil	0	0	0.00
Transponder_ping	9	420	98.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	366	30	115.85
TT8	1714	17	303.94
LPSleep	4797	2	108.22
TT8_Active	627	17	111.26
TT8_Sampling	1710	43	764.87
TT8_CF8	390	54	220.02
TT8_Kalman	0	0	0.00
Analog_circuits	1526	15	235.87
GPS_charging	0	0	0.00
Compass	1011	7	78.03
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	-0.63	-190.2	124	2413	470	456	0.0	0.0	0	121	0.00	0.00	-95.88	0.000	16386	0.000	0.000	124	2413	3001	3044	2958	0	0	0	0	0	0	28.83	28.83	28.83
125	-0.63	-190.2	128	2413	3044	2960	3.6	-13.8	13	159	10.68	2.12	-11.27	0.000	18948	0.236	0.046	2717	986	3772	3865	3679	0	0	0	0	0	0	25.66	26.28	26.70
257	-0.63	-190.2	2717	986	3865	3679	52.8	-29.3	25	266	0.00	1.90	0.00	0.000	1030	0.000	0.028	2710	2329	3772	3865	3679	0	0	0	0	0	0	28.83	26.34	28.83
561	-0.63	-190.2	2709	2330	3865	3679	133.6	-17.8	41	568	0.00	1.92	0.00	0.000	516	0.000	0.028	2710	977	3771	3865	3678	0	0	0	0	0	0	28.83	26.33	28.83
693	-0.63	-190.2	2710	977	3865	3679	156.3	-18.4	47	700	0.08	1.98	0.00	0.000	3078	0.184	0.026	2720	2382	3771	3864	3679	0	0	0	0	0	0	26.20	26.38	28.83
1016	-0.63	-190.2	2719	2382	3865	3679	202.7	-15.1	63	1022	0.00	1.95	0.00	0.000	260	0.000	0.041	2713	3706	3773	3867	3679	0	0	0	0	0	0	28.83	26.27	28.83
1093	-0.63	-190.2	2713	3706	3866	3679	213.4	-15.3	66	1099	0.00	1.90	0.00	0.000	1030	0.000	0.019	2713	2310	3772	3866	3679	0	0	0	0	0	0	28.83	26.53	28.83
1408	-0.63	-190.2	2713	2309	3866	3677	259.6	-12.4	82	1413	0.00	1.88	0.00	0.000	516	0.000	0.030	2713	982	3771	3865	3677	0	0	0	0	0	0	28.83	26.32	28.83
1469	-0.63	-190.2	2713	982	3865	3675	264.3	-11.2	84	1477	0.00	1.98	0.00	0.000	1030	0.000	0.027	2708	2380	3770	3865	3675	0	0	0	0	0	0	28.83	26.37	28.83
1776	-0.63	-190.2	2708	2381	3865	3670	300.0	-11.4	100	1777	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2381	3767	3865	3670	0	0	0	0	0	0	28.83	28.83	28.83
2075	-0.63	-190.2	2708	2381	3866	3664	342.0	-17.1	115	2081	0.00	2.03	0.00	0.000	516	0.000	0.030	2708	979	3764	3865	3664	0	0	0	0	0	0	28.83	26.28	28.83
2166	-0.63	-190.2	2708	979	3865	3662	356.0	-16.1	119	2173	0.08	1.98	0.00	0.000	3078	0.178	0.028	2722	2375	3764	3866	3662	0	0	0	0	0	0	26.17	26.34	28.83
2489	-0.63	-190.2	2722	2375	3863	3657	395.3	-10.9	135	2490	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2375	3760	3863	3657	0	0	0	0	0	0	28.83	28.83	28.83
2786	-0.63	-190.2	2722	2375	3859	3654	425.7	-10.3	150	2792	0.00	2.03	0.00	0.000	516	0.000	0.030	2723	975	3756	3858	3654	0	0	0	0	0	0	28.83	26.27	28.83
2862	-0.63	-190.2	2722	975	3856	3653	433.1	-11.1	153	2869	0.00	2.00	0.00	0.000	1030	0.000	0.027	2720	2378	3755	3857	3653	0	0	0	0	0	0	28.83	26.32	28.83
3178	-0.63	-190.2	2720	2379	3854	3649	473.8	-13.1	169	3179	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2379	3751	3854	3649	0	0	0	0	0	0	28.83	28.83	28.83
3396	end dive: TARGET_DEPTH_EXCEEDED
state	3396	begin apogee
3403	-0.20	0.0	2720	2195	3852	3646	502.6	-13.3	180	3555	0.43	0.00	146.80	0.698	10246	0.112	0.000	2861	2195	2992	3104	2880	0	0	0	0	0	0	25.87	28.83	24.65
3557	end apogee: CONTROL_FINISHED_OK
state	3560	begin climb
3562	0.63	190.2	2861	2195	3103	2876	512.5	0.0	186	3730	0.75	2.25	153.23	0.682	10500	0.074	0.041	3132	3640	2211	2339	2083	0	0	1	0	0	0	25.37	25.20	24.60
3791	0.78	261.2	3132	3640	2338	2074	510.0	6.9	196	3853	0.12	1.98	55.58	0.677	11270	0.080	0.021	3198	2258	1928	2053	1803	0	0	0	0	0	0	25.70	25.75	24.69
4173	0.78	261.2	3198	2258	2049	1784	447.1	18.2	215	4175	0.10	0.00	0.00	0.000	4102	0.187	0.000	3178	2258	1917	2049	1785	0	0	0	0	0	0	25.98	28.83	28.83
4472	0.78	261.2	3177	2258	2045	1781	402.9	13.2	230	4479	0.00	2.08	0.00	0.000	516	0.000	0.040	3180	874	1916	2047	1786	0	0	0	0	0	0	28.83	26.10	28.83
4519	0.78	261.2	3179	874	2047	1781	397.0	13.1	232	4525	0.00	1.98	0.00	0.000	1030	0.000	0.025	3180	2250	1914	2047	1781	0	0	0	0	0	0	28.83	26.23	28.83
4846	0.78	261.2	3179	2251	2044	1779	357.6	10.6	248	4847	0.00	0.00	0.00	0.000	6	0.000	0.000	3180	2251	1911	2043	1780	0	0	0	0	0	0	28.83	28.83	28.83
5144	0.78	261.2	3179	2251	2043	1777	324.3	12.0	263	5145	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	2251	1909	2042	1777	0	0	0	0	0	0	28.83	28.83	28.83
5445	0.78	261.2	3179	2251	2040	1775	281.2	15.1	278	5451	0.00	2.05	0.00	0.000	516	0.000	0.036	3187	869	1907	2040	1775	0	0	0	0	0	0	28.83	26.16	28.83
5479	0.78	261.2	3186	869	2040	1776	277.2	14.9	279	5485	0.00	1.95	0.00	0.000	1030	0.000	0.024	3187	2241	1908	2040	1776	0	0	0	0	0	0	28.83	26.30	28.83
5794	0.78	261.2	3186	2242	2039	1775	228.9	13.8	295	5800	0.00	2.08	0.00	0.000	260	0.000	0.040	3187	3636	1907	2039	1775	0	0	0	0	0	0	28.83	26.17	28.83
5850	0.78	261.2	3187	3636	2038	1774	222.7	13.4	297	5857	0.00	1.98	0.00	0.000	1030	0.000	0.022	3188	2252	1905	2037	1774	0	0	0	0	0	0	28.83	26.34	28.83
6166	0.82	281.0	3188	2252	2037	1773	191.5	8.6	313	6190	0.00	2.12	13.93	0.522	8452	0.000	0.039	3188	3633	1841	1968	1715	0	0	0	0	0	0	28.83	26.24	25.53
6204	0.86	302.3	3188	3636	1966	1714	189.4	8.6	314	6228	0.00	2.00	17.65	0.516	9222	0.000	0.022	3188	2234	1756	1880	1633	0	0	0	0	0	0	28.83	26.26	25.44
6542	0.86	302.3	3188	2234	1877	1624	149.5	10.7	331	6548	0.00	2.12	0.00	0.000	260	0.000	0.038	3188	3645	1750	1877	1624	0	0	0	0	0	0	28.83	26.10	28.83
6614	0.86	302.3	3188	3645	1875	1623	141.0	12.1	334	6620	0.00	2.00	0.00	0.000	1030	0.000	0.021	3188	2238	1749	1875	1623	0	0	0	0	0	0	28.83	26.27	28.83
6937	1.02	382.7	3188	2237	1875	1622	115.0	6.6	350	7008	0.17	2.08	61.42	0.444	10756	0.067	0.036	3300	853	1425	1536	1314	0	0	0	0	0	0	26.42	25.86	25.35
7191	1.02	382.7	3299	852	1532	1310	92.3	11.6	361	7200	0.17	2.00	0.00	0.000	5126	0.147	0.024	3253	2256	1420	1532	1309	0	0	0	0	0	0	25.70	26.08	28.83
7499	1.06	403.9	3252	2256	1532	1304	64.7	8.6	377	7522	0.00	2.05	15.15	0.413	8452	0.000	0.036	3252	3630	1339	1449	1229	0	0	0	0	0	0	28.83	26.15	25.60
7560	1.13	438.7	3252	3631	1449	1225	60.7	8.1	379	7592	0.12	1.98	26.00	0.395	11270	0.080	0.021	3328	2223	1201	1303	1100	0	0	0	0	0	0	26.14	26.21	25.46
7890	1.13	438.7	2304	2220	1264	1086	16.0	12.7	414	7900	0.12	1.98	0.00	0.000	4612	0.166	0.034	3299	877	1194	1297	1092	0	0	0	0	0	0	26.01	26.09	28.83
7930	1.13	438.7	3298	877	1297	1092	11.4	10.4	420	7938	0.00	1.92	0.00	0.000	1030	0.000	0.023	3299	2251	1195	1298	1092	0	0	0	0	0	0	28.83	26.23	28.83
8010	end climb: SURFACE_DEPTH_REACHED
state	8010	begin surface coast
8040	end surface coast: CONTROL_FINISHED_OK
state	8040	begin surface