Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2300 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 4 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 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 660 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 40 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 557.86951 R_STBD_OVSHOOT 24 XPDR_VALID 2

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 400 XPDR_INHIBIT 90

D_BOOST 20 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 3 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 415 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3400 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2730 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 220 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 250 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 20 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 -20209.717 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -8 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

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 154 MINV_24V 22 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3952 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 180 C_PITCH 2820 FG_AHR_10V 0 SEABIRD_T_G 0.0043708701

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064764963

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.5888983e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -74.53199 SEABIRD_T_J 2.7074855e-06

RHO 1.0275 PITCH_GAIN 30 PRESSURE_SLOPE 0.0001165165 SEABIRD_C_G -10.475479

MASS 52107 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.2050543

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015894541

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021379974

KALMAN_USE 2 PITCH_ADJ_GAIN 0.045000002 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 181 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 9.9999997e-06 ROLL_MAX 3676 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PITCH_ADJ_DBAND 1 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 175 SM_CC 557.86951

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 660 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 30 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3952 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 154 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 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 0.0001165165 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.003 PRESSURE_YINT -74.53199 T_BOOST 3

CALL_TRIES 5 HD_B 0.0099999998 PROTOCOL 9 T_DIVE 220

CALL_WAIT 60 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 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 -20209.717

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 171 RELAUNCH 1 T_MISSION 250

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2820 LOGGERDEVICE1 53 ROLL_AD_RATE 400 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2730 LOGGERDEVICE4 -1 ROLL_MAX 3676 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -8

DEEPGLIDER 0 MASS 52107 ROLL_MIN 181 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 180 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 24 VBD_DBAND 2

DEVICE3 -1 MISSION 4 SC_PROFILE 3.0 VBD_MAX 3400

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 415

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.475479 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 4 N_DIVES 0 SEABIRD_C_H 1.2050543 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1010 N_FILEKB 8 SEABIRD_C_I -0.0015894541 VBD_TIMEOUT 720

D_BOOST 20 N_GPS 20 SEABIRD_C_J 0.00021379974 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0043708701 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064764963 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_T_I 2.5888983e-05 XPDR_VALID 2

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.7074855e-06

Pre-dive calculations and measurements:

GPS1 250213,064403,2201.935,12101.471,8,2.8,27,-2.7 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250213,064731,2201.926,12101.511,14,1.1,14,-2.7 MHEAD_RNG_PITCHd_Wd 23.5,121511,-15.8,-10.000,-19.55,2669

SPEED_LIMITS 0.173,0.282 D_GRID 1150

Post-dive calculations and measurements:

FINISH 0.9,1.022807 _10V_AH 10.4,1.853

SM_CCo 10937,37.65,0.060,0,0,454,558.06 FG_AHR_24Vo 0.000

SM_GC 1.02,7.70,0.25,37.65,0.034,0.065,0.060,147,2304,454,-8.28,-0.90,558.06,0,0,0,0,0,0,26.52,26.54,26.46 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2152.74,12103.41,250213,060647 MEM 323988

TT8_MAMPS 0.046438,0.046438 DATA_FILE_SIZE 20093,562

HUMID 47.99 CAP_FILE_SIZE 325168,0

INTERNAL_PRESSURE 9.59367 CFSIZE 260034560,253161472

TCM_TEMP 22.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,6,1,0

XPDR_PINGS 20 CURRENT 0.131,154.7,1

SC_FREEKB 4018816 GPS 250213,095143,2202.377,12103.155,12,2.0,12,-2.7

_24V_AH 24.4,1.964

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 231 129.94 nil 0 0 0.00

Roll_motor 91 70 157.35 nil 0 0 0.00

VBD_pump_during_apogee 576 973 13706.41 nil 0 0 0.00

VBD_pump_during_surface 37 60 55.52 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 10906 4 1170.60

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 5 420 51.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 27 4.55

TT8 2508 35 937.20

LPSleep 6129 2 139.60

TT8_Active 705 35 263.79

TT8_Sampling 1592 58 967.09

TT8_CF8 117 65 80.78

TT8_Kalman 0 0 0.00

Analog_circuits 1583 15 246.99

GPS_charging 0 0 0.00

Compass 1514 5 94.36

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.74 -175.2 143 2305 511 341 0.0 0.0 0 87 0.00 0.00 -67.80 0.000 16386 0.000 0.000 141 2305 2368 2433 2304 0 0 0 0 0 0 28.83 28.83 28.83

90 -0.74 -175.2 141 2305 2435 2304 3.3 -4.6 9 122 9.40 0.00 -18.80 0.000 18438 0.231 0.000 2578 2305 3411 3446 3377 0 0 0 0 0 0 26.39 28.83 26.90

436 -0.65 -175.2 2574 2308 3442 3414 79.6 -18.5 42 442 0.12 2.15 0.00 0.000 2308 0.145 0.060 2608 3672 3428 3442 3414 0 0 0 0 0 0 26.67 26.69 28.83

678 -0.82 -175.2 2607 3673 3442 3415 108.9 -11.3 53 684 0.15 2.03 0.00 0.000 5126 0.074 0.031 2510 2296 3428 3442 3415 0 0 0 0 0 0 26.80 26.79 28.83

993 -0.68 -175.2 2510 2293 3442 3416 170.5 -17.9 69 1000 0.25 2.17 0.00 0.000 2308 0.125 0.061 2584 3673 3429 3442 3416 0 0 0 0 0 0 26.72 26.77 28.83

1228 -0.85 -175.2 2584 3673 3442 3416 191.5 -9.4 80 1235 0.12 2.03 0.00 0.000 5126 0.086 0.031 2501 2294 3429 3442 3416 0 0 0 0 0 0 26.84 26.85 28.83

1544 -0.75 -175.2 2501 2293 3442 3416 250.6 -18.1 96 1550 0.22 2.17 0.00 0.000 2308 0.125 0.060 2568 3678 3429 3441 3417 0 0 0 0 0 0 26.77 26.81 28.83

1678 -0.90 -175.2 2568 3679 3442 3416 265.2 -10.3 102 1685 0.12 2.03 0.00 0.000 5126 0.085 0.031 2487 2292 3429 3442 3416 0 0 0 0 0 0 26.87 26.87 28.83

1993 -0.79 -175.2 2487 2292 3442 3416 317.3 -17.9 118 2000 0.22 2.17 0.00 0.000 2308 0.125 0.061 2554 3671 3431 3447 3416 0 0 0 0 0 0 26.77 26.84 28.83

2142 -0.92 -175.2 2554 3672 3441 3416 336.0 -11.9 125 2148 0.00 2.00 0.00 0.000 1030 0.000 0.032 2554 2305 3428 3441 3416 0 0 0 0 0 0 28.83 26.89 28.83

2461 -1.02 -175.2 2554 2303 3438 3416 373.4 -11.8 141 2468 0.15 2.15 0.00 0.000 4356 0.077 0.063 2457 3671 3427 3438 3416 0 0 0 0 0 0 26.94 26.84 28.83

2521 -1.02 -175.2 2457 3671 3438 3416 380.6 -13.7 143 2530 0.12 2.03 0.00 0.000 3078 0.142 0.031 2493 2289 3427 3438 3416 0 0 0 0 0 0 26.78 26.89 28.83

2828 -0.94 -175.2 2492 2288 3435 3415 433.5 -15.8 159 2835 0.00 2.17 0.00 0.000 260 0.000 0.065 2482 3671 3425 3435 3416 0 0 0 0 0 0 28.83 26.84 28.83

2958 -0.88 -175.2 2482 3671 3439 3415 453.6 -15.7 165 2964 0.17 2.03 0.00 0.000 3078 0.129 0.032 2537 2299 3424 3434 3415 0 0 0 0 0 0 26.79 26.90 28.83

3278 -0.95 -175.2 2537 2298 3434 3412 494.2 -12.6 181 3279 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2298 3422 3434 3411 0 0 0 0 0 0 28.83 28.83 28.83

3578 -1.02 -175.2 2537 2298 3430 3410 531.7 -12.1 196 3584 0.12 2.17 0.00 0.000 4356 0.090 0.067 2456 3670 3420 3430 3410 0 0 0 0 0 0 26.94 26.85 28.83

3697 -0.92 -175.2 2456 3669 3429 3410 548.5 -16.7 201 3705 0.22 2.03 0.00 0.000 3078 0.127 0.033 2526 2294 3419 3429 3410 0 0 0 0 0 0 26.78 26.90 28.83

4003 -0.98 -175.2 2526 2292 3427 3407 590.8 -13.3 217 4009 0.00 2.20 0.00 0.000 260 0.000 0.069 2516 3674 3419 3431 3407 0 0 0 0 0 0 28.83 26.84 28.83

4103 -1.05 -175.2 2516 3674 3427 3406 604.5 -14.0 221 4110 0.10 2.03 0.00 0.000 5126 0.101 0.031 2457 2299 3417 3427 3407 0 0 0 0 0 0 26.89 26.91 28.83

4432 end dive: TARGET_DEPTH_EXCEEDED

state 4432 begin apogee

4436 -0.17 0.0 2456 2146 3423 3405 662.6 -17.4 232 4590 0.88 0.00 140.98 0.942 10246 0.112 0.000 2758 2145 2729 2850 2608 0 0 0 0 1 0 26.79 28.83 24.55

4592 end apogee: CONTROL_FINISHED_OK

state 4592 begin climb

4593 0.74 175.2 2758 2144 2850 2609 675.0 0.0 236 4760 0.80 0.00 154.75 0.974 10758 0.049 0.000 3065 2144 2014 2163 1865 0 0 0 0 1 0 25.41 28.83 24.43

5039 0.67 319.1 3065 2145 2152 1865 684.5 4.5 252 5177 0.00 2.42 123.32 0.960 8452 0.000 0.063 3065 3560 1428 1552 1304 0 0 0 0 1 0 28.83 25.13 24.45

5204 0.44 319.6 3065 3561 1551 1304 669.7 10.0 257 5211 0.38 2.20 0.00 0.000 5126 0.137 0.031 2966 2154 1427 1551 1304 0 0 0 0 0 0 25.48 25.59 28.83

5535 0.66 342.0 2966 2153 1547 1304 638.5 9.1 268 5573 0.17 2.28 23.65 0.737 10756 0.069 0.051 3068 751 1335 1461 1210 0 0 0 0 1 0 26.44 26.03 25.33

5656 0.66 342.0 3067 752 1461 1210 626.4 11.8 271 5665 0.12 2.22 0.00 0.000 5126 0.152 0.053 3034 2157 1335 1460 1210 0 0 0 0 0 0 26.15 26.24 28.83

5973 0.66 342.0 3034 2157 1460 1210 588.5 11.2 284 5979 0.00 2.25 0.00 0.000 260 0.000 0.065 3034 3559 1333 1456 1210 0 0 0 0 0 0 28.83 26.48 28.83

5997 0.66 342.0 3034 3559 1460 1210 585.7 11.2 285 6003 0.00 2.12 0.00 0.000 1030 0.000 0.034 3045 2154 1335 1460 1210 0 0 0 0 0 0 28.83 26.54 28.83

6321 0.66 342.0 3044 2154 1459 1211 545.9 12.7 301 6327 0.00 2.17 0.00 0.000 516 0.000 0.054 3055 744 1334 1459 1210 0 0 0 0 0 0 28.83 26.63 28.83

6420 0.66 342.0 3055 745 1458 1210 534.4 13.4 305 6428 0.00 2.20 0.00 0.000 1030 0.000 0.052 3055 2154 1334 1458 1210 0 0 0 0 0 0 28.83 26.65 28.83

6726 0.66 342.0 3055 2154 1458 1210 493.0 13.1 321 6732 0.00 2.25 0.00 0.000 260 0.000 0.069 3055 3562 1334 1457 1211 0 0 0 0 0 0 28.83 26.67 28.83

6844 0.57 342.0 2080 3561 1432 1208 476.5 16.1 326 6853 0.20 2.15 0.00 0.000 5126 0.148 0.035 3008 2145 1334 1458 1210 0 0 0 0 0 0 26.63 26.74 28.83

7152 0.67 342.0 3008 2145 1456 1210 438.1 10.7 342 7157 0.00 2.28 0.00 0.000 260 0.000 0.068 3008 3562 1331 1453 1210 0 0 0 0 0 0 28.83 26.72 28.83

7225 0.74 342.0 3008 3562 1456 1210 430.3 11.9 345 7232 0.12 2.12 0.00 0.000 3078 0.088 0.037 3088 2150 1333 1456 1210 0 0 0 0 0 0 26.79 26.77 28.83

7541 0.62 342.0 3087 2150 1455 1210 385.2 13.7 361 7547 0.17 2.17 0.00 0.000 4612 0.146 0.055 3040 742 1332 1455 1210 0 0 0 0 0 0 26.70 26.77 28.83

7649 0.67 342.0 3040 742 1454 1210 373.2 10.7 366 7655 0.00 2.17 0.00 0.000 1030 0.000 0.054 3040 2149 1332 1454 1210 0 0 0 0 0 0 28.83 26.77 28.83

7973 0.67 342.0 3039 2149 1454 1210 339.3 10.8 382 7979 0.00 2.20 0.00 0.000 516 0.000 0.058 3051 740 1332 1454 1210 0 0 0 0 0 0 28.83 26.79 28.83

8062 0.67 342.0 3050 740 1454 1210 330.2 10.5 386 8068 0.00 2.20 0.00 0.000 1030 0.000 0.055 3050 2153 1332 1454 1210 0 0 0 0 0 0 28.83 26.79 28.83

8381 0.67 342.0 3050 2153 1454 1210 292.6 12.0 402 8386 0.00 2.25 0.00 0.000 260 0.000 0.070 3050 3563 1332 1454 1210 0 0 0 0 0 0 28.83 26.79 28.83

8434 0.67 342.0 3050 3563 1454 1210 286.9 12.2 404 8440 0.00 2.12 0.00 0.000 1030 0.000 0.037 3061 2147 1332 1454 1210 0 0 0 0 0 0 28.83 26.83 28.83

8747 0.67 342.0 3061 2148 1454 1210 248.9 11.9 420 8754 0.00 2.17 0.00 0.000 516 0.000 0.057 3072 742 1332 1454 1210 0 0 0 0 0 0 28.83 26.81 28.83

8840 0.67 342.0 3072 742 1453 1210 239.9 10.7 424 8847 0.12 2.17 0.00 0.000 5126 0.152 0.054 3037 2149 1331 1453 1210 0 0 0 0 0 0 26.74 26.82 28.83

9157 0.87 441.7 3037 2149 1453 1210 215.8 6.2 440 9253 0.15 2.35 84.53 0.695 10756 0.079 0.058 3141 742 927 1049 805 0 0 1 0 1 0 26.90 25.72 25.18

9337 0.74 441.7 3141 740 1049 804 189.4 17.5 448 9344 0.28 2.25 0.00 0.000 5126 0.129 0.052 3058 2153 926 1049 804 0 0 0 0 0 0 25.98 26.05 28.83

9657 0.86 441.7 3057 2153 1048 801 148.9 10.4 464 9659 0.12 0.00 0.00 0.000 2054 0.085 0.000 3131 2153 924 1048 801 0 0 0 0 0 0 26.51 28.83 28.83

9957 0.75 441.7 3131 2157 1048 801 106.0 16.0 479 9963 0.20 2.20 0.00 0.000 4612 0.134 0.056 3075 743 924 1048 801 0 0 0 0 0 0 26.49 26.55 28.83

10193 0.90 446.5 3074 743 1048 800 82.1 9.8 490 10207 0.10 2.20 6.60 0.373 11270 0.097 0.052 3140 2151 904 1030 779 0 0 0 0 0 0 26.65 26.63 26.15

10504 0.95 487.9 3140 2151 1026 773 52.7 8.4 506 10562 0.00 2.30 43.00 0.552 8452 0.000 0.066 3141 3563 740 847 633 0 0 0 0 1 0 28.83 26.14 25.63

10615 0.95 487.9 3140 3563 847 633 39.5 13.0 514 10621 0.00 2.17 0.00 0.000 1030 0.000 0.037 3151 2145 740 847 633 0 0 0 0 0 0 28.83 26.28 28.83

10899 end climb: SURFACE_DEPTH_REACHED

state 10899 begin surface coast

10922 end surface coast: CONTROL_FINISHED_OK

state 10922 begin surface

ID	171	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2300	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	4	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	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	660	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	40	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	557.86951	R_STBD_OVSHOOT	24	XPDR_VALID	2
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	400	XPDR_INHIBIT	90
D_BOOST	20	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	3	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	415	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3400	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2730	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	220	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	250	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	20	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	-20209.717	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-8	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
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	154	MINV_24V	22	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3952	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	180	C_PITCH	2820	FG_AHR_10V	0	SEABIRD_T_G	0.0043708701
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064764963
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.5888983e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-74.53199	SEABIRD_T_J	2.7074855e-06
RHO	1.0275	PITCH_GAIN	30	PRESSURE_SLOPE	0.0001165165	SEABIRD_C_G	-10.475479
MASS	52107	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.2050543
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015894541
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021379974
KALMAN_USE	2	PITCH_ADJ_GAIN	0.045000002	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	181	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	9.9999997e-06	ROLL_MAX	3676	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	250213,064403,2201.935,12101.471,8,2.8,27,-2.7	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250213,064731,2201.926,12101.511,14,1.1,14,-2.7	MHEAD_RNG_PITCHd_Wd	23.5,121511,-15.8,-10.000,-19.55,2669
SPEED_LIMITS	0.173,0.282	D_GRID	1150

FINISH	0.9,1.022807	_10V_AH	10.4,1.853
SM_CCo	10937,37.65,0.060,0,0,454,558.06	FG_AHR_24Vo	0.000
SM_GC	1.02,7.70,0.25,37.65,0.034,0.065,0.060,147,2304,454,-8.28,-0.90,558.06,0,0,0,0,0,0,26.52,26.54,26.46	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2152.74,12103.41,250213,060647	MEM	323988
TT8_MAMPS	0.046438,0.046438	DATA_FILE_SIZE	20093,562
HUMID	47.99	CAP_FILE_SIZE	325168,0
INTERNAL_PRESSURE	9.59367	CFSIZE	260034560,253161472
TCM_TEMP	22.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,6,1,0
XPDR_PINGS	20	CURRENT	0.131,154.7,1
SC_FREEKB	4018816	GPS	250213,095143,2202.377,12103.155,12,2.0,12,-2.7
_24V_AH	24.4,1.964

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	231	129.94	nil	0	0	0.00
Roll_motor	91	70	157.35	nil	0	0	0.00
VBD_pump_during_apogee	576	973	13706.41	nil	0	0	0.00
VBD_pump_during_surface	37	60	55.52	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	10906	4	1170.60
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	5	420	51.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	27	4.55
TT8	2508	35	937.20
LPSleep	6129	2	139.60
TT8_Active	705	35	263.79
TT8_Sampling	1592	58	967.09
TT8_CF8	117	65	80.78
TT8_Kalman	0	0	0.00
Analog_circuits	1583	15	246.99
GPS_charging	0	0	0.00
Compass	1514	5	94.36
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.74	-175.2	143	2305	511	341	0.0	0.0	0	87	0.00	0.00	-67.80	0.000	16386	0.000	0.000	141	2305	2368	2433	2304	0	0	0	0	0	0	28.83	28.83	28.83
90	-0.74	-175.2	141	2305	2435	2304	3.3	-4.6	9	122	9.40	0.00	-18.80	0.000	18438	0.231	0.000	2578	2305	3411	3446	3377	0	0	0	0	0	0	26.39	28.83	26.90
436	-0.65	-175.2	2574	2308	3442	3414	79.6	-18.5	42	442	0.12	2.15	0.00	0.000	2308	0.145	0.060	2608	3672	3428	3442	3414	0	0	0	0	0	0	26.67	26.69	28.83
678	-0.82	-175.2	2607	3673	3442	3415	108.9	-11.3	53	684	0.15	2.03	0.00	0.000	5126	0.074	0.031	2510	2296	3428	3442	3415	0	0	0	0	0	0	26.80	26.79	28.83
993	-0.68	-175.2	2510	2293	3442	3416	170.5	-17.9	69	1000	0.25	2.17	0.00	0.000	2308	0.125	0.061	2584	3673	3429	3442	3416	0	0	0	0	0	0	26.72	26.77	28.83
1228	-0.85	-175.2	2584	3673	3442	3416	191.5	-9.4	80	1235	0.12	2.03	0.00	0.000	5126	0.086	0.031	2501	2294	3429	3442	3416	0	0	0	0	0	0	26.84	26.85	28.83
1544	-0.75	-175.2	2501	2293	3442	3416	250.6	-18.1	96	1550	0.22	2.17	0.00	0.000	2308	0.125	0.060	2568	3678	3429	3441	3417	0	0	0	0	0	0	26.77	26.81	28.83
1678	-0.90	-175.2	2568	3679	3442	3416	265.2	-10.3	102	1685	0.12	2.03	0.00	0.000	5126	0.085	0.031	2487	2292	3429	3442	3416	0	0	0	0	0	0	26.87	26.87	28.83
1993	-0.79	-175.2	2487	2292	3442	3416	317.3	-17.9	118	2000	0.22	2.17	0.00	0.000	2308	0.125	0.061	2554	3671	3431	3447	3416	0	0	0	0	0	0	26.77	26.84	28.83
2142	-0.92	-175.2	2554	3672	3441	3416	336.0	-11.9	125	2148	0.00	2.00	0.00	0.000	1030	0.000	0.032	2554	2305	3428	3441	3416	0	0	0	0	0	0	28.83	26.89	28.83
2461	-1.02	-175.2	2554	2303	3438	3416	373.4	-11.8	141	2468	0.15	2.15	0.00	0.000	4356	0.077	0.063	2457	3671	3427	3438	3416	0	0	0	0	0	0	26.94	26.84	28.83
2521	-1.02	-175.2	2457	3671	3438	3416	380.6	-13.7	143	2530	0.12	2.03	0.00	0.000	3078	0.142	0.031	2493	2289	3427	3438	3416	0	0	0	0	0	0	26.78	26.89	28.83
2828	-0.94	-175.2	2492	2288	3435	3415	433.5	-15.8	159	2835	0.00	2.17	0.00	0.000	260	0.000	0.065	2482	3671	3425	3435	3416	0	0	0	0	0	0	28.83	26.84	28.83
2958	-0.88	-175.2	2482	3671	3439	3415	453.6	-15.7	165	2964	0.17	2.03	0.00	0.000	3078	0.129	0.032	2537	2299	3424	3434	3415	0	0	0	0	0	0	26.79	26.90	28.83
3278	-0.95	-175.2	2537	2298	3434	3412	494.2	-12.6	181	3279	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2298	3422	3434	3411	0	0	0	0	0	0	28.83	28.83	28.83
3578	-1.02	-175.2	2537	2298	3430	3410	531.7	-12.1	196	3584	0.12	2.17	0.00	0.000	4356	0.090	0.067	2456	3670	3420	3430	3410	0	0	0	0	0	0	26.94	26.85	28.83
3697	-0.92	-175.2	2456	3669	3429	3410	548.5	-16.7	201	3705	0.22	2.03	0.00	0.000	3078	0.127	0.033	2526	2294	3419	3429	3410	0	0	0	0	0	0	26.78	26.90	28.83
4003	-0.98	-175.2	2526	2292	3427	3407	590.8	-13.3	217	4009	0.00	2.20	0.00	0.000	260	0.000	0.069	2516	3674	3419	3431	3407	0	0	0	0	0	0	28.83	26.84	28.83
4103	-1.05	-175.2	2516	3674	3427	3406	604.5	-14.0	221	4110	0.10	2.03	0.00	0.000	5126	0.101	0.031	2457	2299	3417	3427	3407	0	0	0	0	0	0	26.89	26.91	28.83
4432	end dive: TARGET_DEPTH_EXCEEDED
state	4432	begin apogee
4436	-0.17	0.0	2456	2146	3423	3405	662.6	-17.4	232	4590	0.88	0.00	140.98	0.942	10246	0.112	0.000	2758	2145	2729	2850	2608	0	0	0	0	1	0	26.79	28.83	24.55
4592	end apogee: CONTROL_FINISHED_OK
state	4592	begin climb
4593	0.74	175.2	2758	2144	2850	2609	675.0	0.0	236	4760	0.80	0.00	154.75	0.974	10758	0.049	0.000	3065	2144	2014	2163	1865	0	0	0	0	1	0	25.41	28.83	24.43
5039	0.67	319.1	3065	2145	2152	1865	684.5	4.5	252	5177	0.00	2.42	123.32	0.960	8452	0.000	0.063	3065	3560	1428	1552	1304	0	0	0	0	1	0	28.83	25.13	24.45
5204	0.44	319.6	3065	3561	1551	1304	669.7	10.0	257	5211	0.38	2.20	0.00	0.000	5126	0.137	0.031	2966	2154	1427	1551	1304	0	0	0	0	0	0	25.48	25.59	28.83
5535	0.66	342.0	2966	2153	1547	1304	638.5	9.1	268	5573	0.17	2.28	23.65	0.737	10756	0.069	0.051	3068	751	1335	1461	1210	0	0	0	0	1	0	26.44	26.03	25.33
5656	0.66	342.0	3067	752	1461	1210	626.4	11.8	271	5665	0.12	2.22	0.00	0.000	5126	0.152	0.053	3034	2157	1335	1460	1210	0	0	0	0	0	0	26.15	26.24	28.83
5973	0.66	342.0	3034	2157	1460	1210	588.5	11.2	284	5979	0.00	2.25	0.00	0.000	260	0.000	0.065	3034	3559	1333	1456	1210	0	0	0	0	0	0	28.83	26.48	28.83
5997	0.66	342.0	3034	3559	1460	1210	585.7	11.2	285	6003	0.00	2.12	0.00	0.000	1030	0.000	0.034	3045	2154	1335	1460	1210	0	0	0	0	0	0	28.83	26.54	28.83
6321	0.66	342.0	3044	2154	1459	1211	545.9	12.7	301	6327	0.00	2.17	0.00	0.000	516	0.000	0.054	3055	744	1334	1459	1210	0	0	0	0	0	0	28.83	26.63	28.83
6420	0.66	342.0	3055	745	1458	1210	534.4	13.4	305	6428	0.00	2.20	0.00	0.000	1030	0.000	0.052	3055	2154	1334	1458	1210	0	0	0	0	0	0	28.83	26.65	28.83
6726	0.66	342.0	3055	2154	1458	1210	493.0	13.1	321	6732	0.00	2.25	0.00	0.000	260	0.000	0.069	3055	3562	1334	1457	1211	0	0	0	0	0	0	28.83	26.67	28.83
6844	0.57	342.0	2080	3561	1432	1208	476.5	16.1	326	6853	0.20	2.15	0.00	0.000	5126	0.148	0.035	3008	2145	1334	1458	1210	0	0	0	0	0	0	26.63	26.74	28.83
7152	0.67	342.0	3008	2145	1456	1210	438.1	10.7	342	7157	0.00	2.28	0.00	0.000	260	0.000	0.068	3008	3562	1331	1453	1210	0	0	0	0	0	0	28.83	26.72	28.83
7225	0.74	342.0	3008	3562	1456	1210	430.3	11.9	345	7232	0.12	2.12	0.00	0.000	3078	0.088	0.037	3088	2150	1333	1456	1210	0	0	0	0	0	0	26.79	26.77	28.83
7541	0.62	342.0	3087	2150	1455	1210	385.2	13.7	361	7547	0.17	2.17	0.00	0.000	4612	0.146	0.055	3040	742	1332	1455	1210	0	0	0	0	0	0	26.70	26.77	28.83
7649	0.67	342.0	3040	742	1454	1210	373.2	10.7	366	7655	0.00	2.17	0.00	0.000	1030	0.000	0.054	3040	2149	1332	1454	1210	0	0	0	0	0	0	28.83	26.77	28.83
7973	0.67	342.0	3039	2149	1454	1210	339.3	10.8	382	7979	0.00	2.20	0.00	0.000	516	0.000	0.058	3051	740	1332	1454	1210	0	0	0	0	0	0	28.83	26.79	28.83
8062	0.67	342.0	3050	740	1454	1210	330.2	10.5	386	8068	0.00	2.20	0.00	0.000	1030	0.000	0.055	3050	2153	1332	1454	1210	0	0	0	0	0	0	28.83	26.79	28.83
8381	0.67	342.0	3050	2153	1454	1210	292.6	12.0	402	8386	0.00	2.25	0.00	0.000	260	0.000	0.070	3050	3563	1332	1454	1210	0	0	0	0	0	0	28.83	26.79	28.83
8434	0.67	342.0	3050	3563	1454	1210	286.9	12.2	404	8440	0.00	2.12	0.00	0.000	1030	0.000	0.037	3061	2147	1332	1454	1210	0	0	0	0	0	0	28.83	26.83	28.83
8747	0.67	342.0	3061	2148	1454	1210	248.9	11.9	420	8754	0.00	2.17	0.00	0.000	516	0.000	0.057	3072	742	1332	1454	1210	0	0	0	0	0	0	28.83	26.81	28.83
8840	0.67	342.0	3072	742	1453	1210	239.9	10.7	424	8847	0.12	2.17	0.00	0.000	5126	0.152	0.054	3037	2149	1331	1453	1210	0	0	0	0	0	0	26.74	26.82	28.83
9157	0.87	441.7	3037	2149	1453	1210	215.8	6.2	440	9253	0.15	2.35	84.53	0.695	10756	0.079	0.058	3141	742	927	1049	805	0	0	1	0	1	0	26.90	25.72	25.18
9337	0.74	441.7	3141	740	1049	804	189.4	17.5	448	9344	0.28	2.25	0.00	0.000	5126	0.129	0.052	3058	2153	926	1049	804	0	0	0	0	0	0	25.98	26.05	28.83
9657	0.86	441.7	3057	2153	1048	801	148.9	10.4	464	9659	0.12	0.00	0.00	0.000	2054	0.085	0.000	3131	2153	924	1048	801	0	0	0	0	0	0	26.51	28.83	28.83
9957	0.75	441.7	3131	2157	1048	801	106.0	16.0	479	9963	0.20	2.20	0.00	0.000	4612	0.134	0.056	3075	743	924	1048	801	0	0	0	0	0	0	26.49	26.55	28.83
10193	0.90	446.5	3074	743	1048	800	82.1	9.8	490	10207	0.10	2.20	6.60	0.373	11270	0.097	0.052	3140	2151	904	1030	779	0	0	0	0	0	0	26.65	26.63	26.15
10504	0.95	487.9	3140	2151	1026	773	52.7	8.4	506	10562	0.00	2.30	43.00	0.552	8452	0.000	0.066	3141	3563	740	847	633	0	0	0	0	1	0	28.83	26.14	25.63
10615	0.95	487.9	3140	3563	847	633	39.5	13.0	514	10621	0.00	2.17	0.00	0.000	1030	0.000	0.037	3151	2145	740	847	633	0	0	0	0	0	0	28.83	26.28	28.83
10899	end climb: SURFACE_DEPTH_REACHED
state	10899	begin surface coast
10922	end surface coast: CONTROL_FINISHED_OK
state	10922	begin surface