Glider dive log

WA coast Aug12 * SG122 * Dive index * Mission links * Dive 46 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 122 HEADING -1 ROLL_DEG 30 ALTIM_FREQUENCY 13

MISSION 14 ESCAPE_HEADING 0 C_ROLL_DIVE 2200 ALTIM_PULSE 8

DIVE 46 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2159 ALTIM_SENSITIVITY 2

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 4

D_SURF 2 TGT_DEFAULT_LAT 47.599998 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 3 TGT_DEFAULT_LON -122.3 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 930 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 39 INT_PRESSURE_YINT 0

D_ABORT 975 SM_CC 550 R_STBD_OVSHOOT 44 DEEPGLIDER 0

D_NO_BLEED 50 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 20 FILEMGR 0 ROLL_MAXERRORS 0 MOTHERBOARD 4

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEVICE1 -1

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_PITCH 0 PROTOCOL 9 VBD_MIN 300 DEVICE3 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3824 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 161 C_VBD 2431 DEVICE5 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 53

T_DIVE 180 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00167 LOGGERDEVICE2 67

T_MISSION 400 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE3 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 97

T_TURN_SAMPINT 5 T_GPS 5 UNCOM_BLEED 20 COMPASS2_DEVICE -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 PHONE_DEVICE 49

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 0 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -43463.926 AH0_24V 350 RAFOS_DEVICE -1

USE_BATHY -1 T_RSLEEP 3 AH0_10V 0 XPDR_DEVICE 24

USE_ICE 0 STROBE 0 MINV_24V 12 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 12 SIM_PITCH 0

D_OFFGRID 100 RAFOS_CORR_THRESH 70 FG_AHR_10V 0 SEABIRD_T_G 0.0043208366

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.00062347745

RELAUNCH 1 PITCH_MIN 167 PHONE_SUPPLY -2 SEABIRD_T_I 2.2670058e-05

APOGEE_PITCH -5 PITCH_MAX 3912 PRESSURE_YINT -23.867105 SEABIRD_T_J 2.2826241e-06

MAX_BUOY 200 C_PITCH 2640 PRESSURE_SLOPE 0.0001162797 SEABIRD_C_G -10.179777

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.1536758

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015873691

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021656453

RHO 1.027 PITCH_GAIN 20 COMPASS_USE 4 SC_RECORDABOVE 1050.0

MASS 54196 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

NAV_MODE 2 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 TM_RECORDABOVE 200.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_TURN_MARGIN 0 TM_PROFILE 3.0

HD_A 0.003 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 0 TM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 346 ALTIM_PING_DEPTH 0 TM_LOGSAMPLE 0.0

HD_C 1.6100001e-05 ROLL_MAX 3973 ALTIM_PING_DELTA 10 TM_XMITRAW 0.0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_GAIN 0.015 SPEED_FACTOR 1

AH0_10V 0 D_SAFE 0 PITCH_AD_RATE 150 STROBE 0

AH0_24V 350 D_SURF 2 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 930 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_GAIN 20 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3912 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MIN 167 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 8 FG_AHR_24V 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 47.599998

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_VBD_SHIFT 0.00167 TGT_DEFAULT_LON -122.3

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001162797 TM_LOGSAMPLE 0.0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PRESSURE_YINT -23.867105 TM_PROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PROTOCOL 9 TM_RECORDABOVE 200.0

APOGEE_PITCH -5 HD_A 0.003 P_OVSHOOT 0.039999999 TM_XMITPROFILE 3.0

CALL_NDIVES 1 HD_B 0.0099999998 RAFOS_CORR_THRESH 70 TM_XMITRAW 0.0

CALL_TRIES 5 HD_C 1.6100001e-05 RAFOS_DEVICE -1 T_ABORT 1440

CALL_WAIT 60 HEADING -1 RAFOS_HIT_WINDOW 3600 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_DIVE 180

CAPUPLOAD 0 HEAPDBG 0 RELAUNCH 1 T_EPIRB 0

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_GPS 5

COMM_SEQ 0 ID 122 ROLL_ADJ_DBAND 0 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_GPS_CHARGE -43463.926

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0 ROLL_AD_RATE 350 T_LOITER 0

COMPASS_USE 4 KALMAN_USE 2 ROLL_CNV 0.028270001 T_MISSION 400

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_DEG 30 T_NO_W 120

C_PITCH 2640 LOGGERDEVICE2 67 ROLL_MAX 3973 T_RSLEEP 3

C_ROLL_CLIMB 2159 LOGGERDEVICE3 -1 ROLL_MAXERRORS 0 T_TURN 225

C_ROLL_DIVE 2200 LOGGERDEVICE4 -1 ROLL_MIN 346 T_TURN_SAMPINT 5

C_VBD 2431 LOGGERS 3 ROLL_TIMEOUT 15 T_WATCHDOG 10

DEEPGLIDER 0 MASS 54196 R_PORT_OVSHOOT 39 UNCOM_BLEED 20

DEEPGLIDERMB 0 MAX_BUOY 200 R_STBD_OVSHOOT 44 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_10V 12 SC_PROFILE 3.0 USE_BATHY -1

DEVICE2 -1 MINV_24V 12 SC_RECORDABOVE 1050.0 USE_ICE 0

DEVICE3 -1 MISSION 14 SC_XMITPROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MOTHERBOARD 4 SEABIRD_C_G -10.179777 VBD_CNV -0.24529999

DEVICE5 -1 NAV_MODE 2 SEABIRD_C_H 1.1536758 VBD_DBAND 2

DEVICE6 -1 NOCOMM_ACTION 161 SEABIRD_C_I -0.0015873691 VBD_MAX 3824

DIVE 46 N_DIVES 0 SEABIRD_C_J 0.00021656453 VBD_MAXERRORS 1

D_ABORT 975 N_FILEKB 8 SEABIRD_T_G 0.0043208366 VBD_MIN 300

D_BOOST 20 N_GPS 20 SEABIRD_T_H 0.00062347745 VBD_PUMP_AD_RATE_APOGEE 3

D_CALL 0 N_NOCOMM 1 SEABIRD_T_I 2.2670058e-05 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_J 2.2826241e-06 VBD_TIMEOUT 720

D_FLARE 3 PHONE_DEVICE 49 SIM_PITCH 0 XPDR_DEVICE 24

D_NO_BLEED 50 PHONE_SUPPLY -2 SIM_W 0 XPDR_INHIBIT 90

D_OFFGRID 100 PITCH_ADJ_DBAND 1 SM_CC 550 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 210812,064118,4655.957,-12521.941,24,1.4,24,16.9 TGT_NAME LAUNCH

_CALLS 1 TGT_LATLONG 4654.000,-12455.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210812,064950,4655.859,-12521.908,28,0.8,29,16.9 MHEAD_RNG_PITCHd_Wd 82.7,34224,-24.0,-17.222

SPEED_LIMITS 0.298,0.349 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.5,1.023389 _24V_AH 12.5,25.178

SM_CCo 11409,-0.03,0.000,0,0,299,522.73 _10V_AH 12.9,0.000

SM_GC 2.44,8.85,1.90,-0.03,0.070,0.047,0.000,133,2205,299,-7.71,-1.16,522.73,0,0,1,0,0,0,14.62,14.58,14.11 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4638.64,-12527.13,210812,030311 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 296428

HUMID 63.86 DATA_FILE_SIZE 16750,460

INTERNAL_PRESSURE 8.64291 CAP_FILE_SIZE 130487,0

TCM_TEMP 18.70 CFSIZE 260034560,248750080

XPDR_PINGS 2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,2,0

SC_FREEKB 4008288 CURRENT 0.149,314.2,1

TM_FREEKB 7628640 GPS 210812,100135,4656.459,-12519.828,28,1.3,28,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 351 96.44 nil 0 0 0.00

Roll_motor 61 90 69.93 nil 0 0 0.00

VBD_pump_during_apogee 591 2158 15961.17 nil 0 0 0.00

VBD_pump_during_surface 80 107 107.86 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 11303 4 598.64

Iridium_during_xfer 303 234 888.66 TMICL 2290 12 359.16

Transponder_ping 0 420 2.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 20 8.22

TT8 1770 10 250.37

LPSleep 7443 2 210.28

TT8_Active 688 10 97.34

TT8_Sampling 1895 28 707.81

TT8_CF8 132 35 61.09

TT8_Kalman 0 0 0.00

Analog_circuits 1838 16 379.49

GPS_charging 0 0 0.00

Compass 1437 6 125.00

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.52 -194.7 0.0 0.0 0 87 0.00 0.00 -63.40 0.000 2 0.000 0.000 134 2148 1847 0 0 0 0 0 0 28.83 28.83 28.83

89 -1.52 -194.7 3.7 -2.7 6 142 8.93 1.75 -36.70 0.000 4 0.352 0.090 2142 1152 3227 0 0 0 0 0 0 14.27 14.47 14.69

368 -1.46 -194.7 58.2 -23.0 31 376 0.15 1.75 0.00 0.000 6 0.271 0.043 2168 2202 3231 0 0 0 0 0 0 14.40 14.61 28.83

674 -1.46 -194.7 121.4 -19.1 47 680 0.00 1.83 0.00 0.000 4 0.000 0.062 2168 1147 3232 0 0 0 0 0 0 28.83 14.62 28.83

866 -1.46 -194.7 154.2 -17.1 56 871 0.00 1.75 0.00 0.000 6 0.000 0.043 2163 2199 3232 0 0 0 0 0 0 28.83 14.69 28.83

1178 -1.46 -194.7 207.0 -16.3 72 1179 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2199 3232 0 0 0 0 0 0 28.83 28.83 28.83

1479 -1.46 -194.7 256.0 -16.3 87 1484 0.00 1.80 0.00 0.000 4 0.000 0.063 2163 1152 3232 0 0 0 0 0 0 28.83 14.75 28.83

1535 -1.46 -194.7 263.2 -16.6 89 1542 0.00 1.75 0.00 0.000 6 0.000 0.044 2156 2204 3232 0 0 0 0 0 0 28.83 14.78 28.83

1852 -1.46 -194.7 317.5 -16.4 104 1853 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2204 3232 0 0 0 0 0 0 28.83 28.83 28.83

2151 -1.48 -194.7 368.8 -17.0 114 2153 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2204 3232 0 0 0 0 0 0 28.83 28.83 28.83

2452 -1.50 -194.7 419.4 -16.6 124 2453 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2205 3231 0 0 0 0 0 0 28.83 28.83 28.83

2752 -1.53 -194.7 469.5 -16.9 134 2753 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2204 3230 0 0 0 0 0 0 28.83 28.83 28.83

3051 -1.56 -194.7 520.1 -16.8 144 3057 0.00 1.83 0.00 0.000 4 0.000 0.064 2155 1142 3229 0 0 0 0 0 0 28.83 14.83 28.83

3109 -1.59 -194.7 525.5 -16.5 145 3115 0.00 1.75 0.00 0.000 6 0.000 0.045 2148 2200 3229 0 0 0 0 0 0 28.83 14.85 28.83

3415 -1.62 -194.7 578.9 -16.7 156 3416 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2200 3228 0 0 0 0 0 0 28.83 28.83 28.83

3715 -1.66 -194.7 626.9 -15.9 166 3722 0.12 1.80 0.00 0.000 4 0.128 0.062 2080 1152 3227 0 0 0 0 0 0 14.84 14.83 28.83

3812 -1.66 -194.7 644.9 -18.4 169 3818 0.15 1.75 0.00 0.000 6 0.263 0.045 2105 2206 3227 0 0 0 0 0 0 14.64 14.87 28.83

4140 -1.66 -194.7 703.5 -17.4 180 4142 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2206 3226 0 0 0 0 0 0 28.83 28.83 28.83

4440 -1.66 -194.7 755.4 -17.6 190 4441 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2206 3225 0 0 0 0 0 0 28.83 28.83 28.83

4740 -1.67 -194.7 806.7 -17.3 200 4746 0.00 1.83 0.00 0.000 4 0.000 0.066 2105 1146 3224 0 0 0 0 0 0 28.83 14.83 28.83

4797 -1.69 -194.7 812.4 -17.2 201 4804 0.00 1.75 0.00 0.000 6 0.000 0.045 2100 2200 3224 0 0 0 0 0 0 28.83 14.87 28.83

5104 -1.71 -194.7 867.9 -16.7 212 5105 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2200 3224 0 0 0 0 0 0 28.83 28.83 28.83

5403 -1.73 -194.7 917.8 -17.0 222 5408 0.00 1.80 0.00 0.000 4 0.000 0.066 2099 1148 3222 0 0 0 0 0 0 28.83 14.83 28.83

5481 -1.75 -194.7 928.5 -17.4 224 5486 0.00 1.75 0.00 0.000 6 0.000 0.046 2092 2204 3222 0 0 0 0 0 0 28.83 14.87 28.83

5497 end dive: TARGET_DEPTH_EXCEEDED

state 5497 begin apogee

5500 -0.25 0.0 934.2 -17.4 225 5723 1.58 0.00 211.75 2.159 6 0.205 0.000 2558 2204 2430 0 0 0 0 0 0 14.65 28.83 12.81

5724 end apogee: CONTROL_FINISHED_OK

state 5724 begin climb

5726 1.52 194.7 944.4 0.0 232 5955 1.73 2.12 216.52 2.126 4 0.057 0.070 3149 1121 1636 0 0 1 0 0 0 13.97 13.50 12.48

6157 1.45 194.7 901.2 18.0 246 6164 0.17 1.83 0.00 0.000 6 0.249 0.044 3112 2168 1630 0 0 0 0 0 0 14.00 14.19 28.83

6464 1.43 209.3 845.9 16.4 257 6487 0.00 1.85 16.15 1.895 4 0.000 0.066 3111 3207 1576 0 0 0 0 0 0 28.83 14.34 13.28

6704 1.37 209.3 802.9 18.1 265 6710 0.00 1.80 0.00 0.000 6 0.000 0.048 3111 2160 1573 0 0 0 0 0 0 28.83 14.51 28.83

7038 1.35 216.6 746.4 16.8 276 7052 0.12 1.90 9.00 1.704 4 0.314 0.063 3081 3204 1548 0 0 1 0 0 0 14.42 14.57 13.50

7280 1.36 238.5 707.2 15.9 284 7310 0.00 1.80 25.83 1.862 6 0.000 0.049 3081 2151 1458 0 0 0 0 0 0 28.83 14.64 13.41

7611 1.38 251.0 653.4 16.5 295 7627 0.00 0.00 14.18 1.738 6 0.000 0.000 3081 2151 1407 0 0 0 0 0 0 28.83 28.83 13.50

7909 1.38 251.0 601.2 17.4 305 7914 0.00 1.85 0.00 0.000 4 0.000 0.062 3081 3203 1403 0 0 0 0 0 0 28.83 14.62 28.83

8141 1.38 251.0 563.7 17.5 312 8146 0.00 1.77 0.00 0.000 6 0.000 0.048 3081 2160 1402 0 0 0 0 0 0 28.83 14.68 28.83

8454 1.39 255.9 507.0 16.9 323 8468 0.00 1.90 5.75 1.371 4 0.000 0.063 3081 3204 1386 0 0 0 0 0 0 28.83 14.69 13.66

8545 1.39 257.2 491.0 17.1 326 8550 0.00 1.77 0.00 0.000 6 0.000 0.048 3081 2160 1385 0 0 0 0 0 0 28.83 14.71 28.83

8877 1.42 274.2 435.8 16.2 337 8908 0.00 1.92 20.00 1.596 4 0.000 0.063 3081 3209 1312 0 0 0 0 0 0 28.83 14.59 13.69

9009 1.42 274.2 414.5 17.3 341 9014 0.00 1.80 0.00 0.000 6 0.000 0.048 3081 2159 1309 0 0 0 0 0 0 28.83 14.64 28.83

9333 1.45 280.3 358.0 16.9 352 9347 0.00 1.88 6.93 1.336 4 0.000 0.063 3081 3195 1287 0 0 0 0 0 0 28.83 14.65 13.72

9449 1.46 288.8 342.4 16.7 355 9465 0.00 1.77 10.15 1.410 6 0.000 0.048 3081 2156 1252 0 0 0 0 0 0 28.83 14.69 13.73

9777 1.50 299.5 284.7 16.6 368 9798 0.12 1.90 11.20 1.382 4 0.162 0.063 3138 3203 1208 0 0 0 0 0 0 14.67 14.61 13.76

9925 1.48 299.5 256.1 20.7 375 9930 0.00 1.83 0.00 0.000 6 0.000 0.048 3138 2163 1206 0 0 0 0 0 0 28.83 14.65 28.83

10242 1.48 299.5 190.3 20.6 391 10243 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2165 1206 0 0 0 0 0 0 28.83 28.83 28.83

10543 1.48 299.5 128.4 21.1 406 10548 0.00 1.83 0.00 0.000 4 0.000 0.062 3138 3209 1206 0 0 0 0 0 0 28.83 14.71 28.83

10774 1.48 299.5 82.3 20.8 417 10781 0.00 1.83 0.00 0.000 6 0.000 0.047 3138 2161 1206 0 0 0 0 0 0 28.83 14.69 28.83

11088 1.63 371.5 31.1 12.9 439 11139 0.00 1.85 44.03 1.182 4 0.000 0.070 3138 1115 914 0 0 0 0 0 0 28.83 14.47 13.81

11291 end climb: SURFACE_DEPTH_REACHED

state 11291 begin surface coast

11303 end surface coast: CONTROL_FINISHED_OK

state 11303 begin surface

ID	122	HEADING	-1	ROLL_DEG	30	ALTIM_FREQUENCY	13
MISSION	14	ESCAPE_HEADING	0	C_ROLL_DIVE	2200	ALTIM_PULSE	8
DIVE	46	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2159	ALTIM_SENSITIVITY	2
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4
D_SURF	2	TGT_DEFAULT_LAT	47.599998	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	3	TGT_DEFAULT_LON	-122.3	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	930	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	39	INT_PRESSURE_YINT	0
D_ABORT	975	SM_CC	550	R_STBD_OVSHOOT	44	DEEPGLIDER	0
D_NO_BLEED	50	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	20	FILEMGR	0	ROLL_MAXERRORS	0	MOTHERBOARD	4
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEVICE1	-1
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_PITCH	0	PROTOCOL	9	VBD_MIN	300	DEVICE3	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3824	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	161	C_VBD	2431	DEVICE5	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	53
T_DIVE	180	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00167	LOGGERDEVICE2	67
T_MISSION	400	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE3	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	97
T_TURN_SAMPINT	5	T_GPS	5	UNCOM_BLEED	20	COMPASS2_DEVICE	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	PHONE_DEVICE	49
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	0	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-43463.926	AH0_24V	350	RAFOS_DEVICE	-1
USE_BATHY	-1	T_RSLEEP	3	AH0_10V	0	XPDR_DEVICE	24
USE_ICE	0	STROBE	0	MINV_24V	12	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	12	SIM_PITCH	0
D_OFFGRID	100	RAFOS_CORR_THRESH	70	FG_AHR_10V	0	SEABIRD_T_G	0.0043208366
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.00062347745
RELAUNCH	1	PITCH_MIN	167	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2670058e-05
APOGEE_PITCH	-5	PITCH_MAX	3912	PRESSURE_YINT	-23.867105	SEABIRD_T_J	2.2826241e-06
MAX_BUOY	200	C_PITCH	2640	PRESSURE_SLOPE	0.0001162797	SEABIRD_C_G	-10.179777
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.1536758
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015873691
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021656453
RHO	1.027	PITCH_GAIN	20	COMPASS_USE	4	SC_RECORDABOVE	1050.0
MASS	54196	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
NAV_MODE	2	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	TM_RECORDABOVE	200.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_TURN_MARGIN	0	TM_PROFILE	3.0
HD_A	0.003	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	0	TM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	346	ALTIM_PING_DEPTH	0	TM_LOGSAMPLE	0.0
HD_C	1.6100001e-05	ROLL_MAX	3973	ALTIM_PING_DELTA	10	TM_XMITRAW	0.0

GPS1	210812,064118,4655.957,-12521.941,24,1.4,24,16.9	TGT_NAME	LAUNCH
_CALLS	1	TGT_LATLONG	4654.000,-12455.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210812,064950,4655.859,-12521.908,28,0.8,29,16.9	MHEAD_RNG_PITCHd_Wd	82.7,34224,-24.0,-17.222
SPEED_LIMITS	0.298,0.349	D_GRID	1000

FINISH	1.5,1.023389	_24V_AH	12.5,25.178
SM_CCo	11409,-0.03,0.000,0,0,299,522.73	_10V_AH	12.9,0.000
SM_GC	2.44,8.85,1.90,-0.03,0.070,0.047,0.000,133,2205,299,-7.71,-1.16,522.73,0,0,1,0,0,0,14.62,14.58,14.11	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4638.64,-12527.13,210812,030311	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	296428
HUMID	63.86	DATA_FILE_SIZE	16750,460
INTERNAL_PRESSURE	8.64291	CAP_FILE_SIZE	130487,0
TCM_TEMP	18.70	CFSIZE	260034560,248750080
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,2,0
SC_FREEKB	4008288	CURRENT	0.149,314.2,1
TM_FREEKB	7628640	GPS	210812,100135,4656.459,-12519.828,28,1.3,28,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	351	96.44	nil	0	0	0.00
Roll_motor	61	90	69.93	nil	0	0	0.00
VBD_pump_during_apogee	591	2158	15961.17	nil	0	0	0.00
VBD_pump_during_surface	80	107	107.86	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	11303	4	598.64
Iridium_during_xfer	303	234	888.66	TMICL	2290	12	359.16
Transponder_ping	0	420	2.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	20	8.22
TT8	1770	10	250.37
LPSleep	7443	2	210.28
TT8_Active	688	10	97.34
TT8_Sampling	1895	28	707.81
TT8_CF8	132	35	61.09
TT8_Kalman	0	0	0.00
Analog_circuits	1838	16	379.49
GPS_charging	0	0	0.00
Compass	1437	6	125.00
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.52	-194.7	0.0	0.0	0	87	0.00	0.00	-63.40	0.000	2	0.000	0.000	134	2148	1847	0	0	0	0	0	0	28.83	28.83	28.83
89	-1.52	-194.7	3.7	-2.7	6	142	8.93	1.75	-36.70	0.000	4	0.352	0.090	2142	1152	3227	0	0	0	0	0	0	14.27	14.47	14.69
368	-1.46	-194.7	58.2	-23.0	31	376	0.15	1.75	0.00	0.000	6	0.271	0.043	2168	2202	3231	0	0	0	0	0	0	14.40	14.61	28.83
674	-1.46	-194.7	121.4	-19.1	47	680	0.00	1.83	0.00	0.000	4	0.000	0.062	2168	1147	3232	0	0	0	0	0	0	28.83	14.62	28.83
866	-1.46	-194.7	154.2	-17.1	56	871	0.00	1.75	0.00	0.000	6	0.000	0.043	2163	2199	3232	0	0	0	0	0	0	28.83	14.69	28.83
1178	-1.46	-194.7	207.0	-16.3	72	1179	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2199	3232	0	0	0	0	0	0	28.83	28.83	28.83
1479	-1.46	-194.7	256.0	-16.3	87	1484	0.00	1.80	0.00	0.000	4	0.000	0.063	2163	1152	3232	0	0	0	0	0	0	28.83	14.75	28.83
1535	-1.46	-194.7	263.2	-16.6	89	1542	0.00	1.75	0.00	0.000	6	0.000	0.044	2156	2204	3232	0	0	0	0	0	0	28.83	14.78	28.83
1852	-1.46	-194.7	317.5	-16.4	104	1853	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2204	3232	0	0	0	0	0	0	28.83	28.83	28.83
2151	-1.48	-194.7	368.8	-17.0	114	2153	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2204	3232	0	0	0	0	0	0	28.83	28.83	28.83
2452	-1.50	-194.7	419.4	-16.6	124	2453	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2205	3231	0	0	0	0	0	0	28.83	28.83	28.83
2752	-1.53	-194.7	469.5	-16.9	134	2753	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2204	3230	0	0	0	0	0	0	28.83	28.83	28.83
3051	-1.56	-194.7	520.1	-16.8	144	3057	0.00	1.83	0.00	0.000	4	0.000	0.064	2155	1142	3229	0	0	0	0	0	0	28.83	14.83	28.83
3109	-1.59	-194.7	525.5	-16.5	145	3115	0.00	1.75	0.00	0.000	6	0.000	0.045	2148	2200	3229	0	0	0	0	0	0	28.83	14.85	28.83
3415	-1.62	-194.7	578.9	-16.7	156	3416	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2200	3228	0	0	0	0	0	0	28.83	28.83	28.83
3715	-1.66	-194.7	626.9	-15.9	166	3722	0.12	1.80	0.00	0.000	4	0.128	0.062	2080	1152	3227	0	0	0	0	0	0	14.84	14.83	28.83
3812	-1.66	-194.7	644.9	-18.4	169	3818	0.15	1.75	0.00	0.000	6	0.263	0.045	2105	2206	3227	0	0	0	0	0	0	14.64	14.87	28.83
4140	-1.66	-194.7	703.5	-17.4	180	4142	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2206	3226	0	0	0	0	0	0	28.83	28.83	28.83
4440	-1.66	-194.7	755.4	-17.6	190	4441	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2206	3225	0	0	0	0	0	0	28.83	28.83	28.83
4740	-1.67	-194.7	806.7	-17.3	200	4746	0.00	1.83	0.00	0.000	4	0.000	0.066	2105	1146	3224	0	0	0	0	0	0	28.83	14.83	28.83
4797	-1.69	-194.7	812.4	-17.2	201	4804	0.00	1.75	0.00	0.000	6	0.000	0.045	2100	2200	3224	0	0	0	0	0	0	28.83	14.87	28.83
5104	-1.71	-194.7	867.9	-16.7	212	5105	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2200	3224	0	0	0	0	0	0	28.83	28.83	28.83
5403	-1.73	-194.7	917.8	-17.0	222	5408	0.00	1.80	0.00	0.000	4	0.000	0.066	2099	1148	3222	0	0	0	0	0	0	28.83	14.83	28.83
5481	-1.75	-194.7	928.5	-17.4	224	5486	0.00	1.75	0.00	0.000	6	0.000	0.046	2092	2204	3222	0	0	0	0	0	0	28.83	14.87	28.83
5497	end dive: TARGET_DEPTH_EXCEEDED
state	5497	begin apogee
5500	-0.25	0.0	934.2	-17.4	225	5723	1.58	0.00	211.75	2.159	6	0.205	0.000	2558	2204	2430	0	0	0	0	0	0	14.65	28.83	12.81
5724	end apogee: CONTROL_FINISHED_OK
state	5724	begin climb
5726	1.52	194.7	944.4	0.0	232	5955	1.73	2.12	216.52	2.126	4	0.057	0.070	3149	1121	1636	0	0	1	0	0	0	13.97	13.50	12.48
6157	1.45	194.7	901.2	18.0	246	6164	0.17	1.83	0.00	0.000	6	0.249	0.044	3112	2168	1630	0	0	0	0	0	0	14.00	14.19	28.83
6464	1.43	209.3	845.9	16.4	257	6487	0.00	1.85	16.15	1.895	4	0.000	0.066	3111	3207	1576	0	0	0	0	0	0	28.83	14.34	13.28
6704	1.37	209.3	802.9	18.1	265	6710	0.00	1.80	0.00	0.000	6	0.000	0.048	3111	2160	1573	0	0	0	0	0	0	28.83	14.51	28.83
7038	1.35	216.6	746.4	16.8	276	7052	0.12	1.90	9.00	1.704	4	0.314	0.063	3081	3204	1548	0	0	1	0	0	0	14.42	14.57	13.50
7280	1.36	238.5	707.2	15.9	284	7310	0.00	1.80	25.83	1.862	6	0.000	0.049	3081	2151	1458	0	0	0	0	0	0	28.83	14.64	13.41
7611	1.38	251.0	653.4	16.5	295	7627	0.00	0.00	14.18	1.738	6	0.000	0.000	3081	2151	1407	0	0	0	0	0	0	28.83	28.83	13.50
7909	1.38	251.0	601.2	17.4	305	7914	0.00	1.85	0.00	0.000	4	0.000	0.062	3081	3203	1403	0	0	0	0	0	0	28.83	14.62	28.83
8141	1.38	251.0	563.7	17.5	312	8146	0.00	1.77	0.00	0.000	6	0.000	0.048	3081	2160	1402	0	0	0	0	0	0	28.83	14.68	28.83
8454	1.39	255.9	507.0	16.9	323	8468	0.00	1.90	5.75	1.371	4	0.000	0.063	3081	3204	1386	0	0	0	0	0	0	28.83	14.69	13.66
8545	1.39	257.2	491.0	17.1	326	8550	0.00	1.77	0.00	0.000	6	0.000	0.048	3081	2160	1385	0	0	0	0	0	0	28.83	14.71	28.83
8877	1.42	274.2	435.8	16.2	337	8908	0.00	1.92	20.00	1.596	4	0.000	0.063	3081	3209	1312	0	0	0	0	0	0	28.83	14.59	13.69
9009	1.42	274.2	414.5	17.3	341	9014	0.00	1.80	0.00	0.000	6	0.000	0.048	3081	2159	1309	0	0	0	0	0	0	28.83	14.64	28.83
9333	1.45	280.3	358.0	16.9	352	9347	0.00	1.88	6.93	1.336	4	0.000	0.063	3081	3195	1287	0	0	0	0	0	0	28.83	14.65	13.72
9449	1.46	288.8	342.4	16.7	355	9465	0.00	1.77	10.15	1.410	6	0.000	0.048	3081	2156	1252	0	0	0	0	0	0	28.83	14.69	13.73
9777	1.50	299.5	284.7	16.6	368	9798	0.12	1.90	11.20	1.382	4	0.162	0.063	3138	3203	1208	0	0	0	0	0	0	14.67	14.61	13.76
9925	1.48	299.5	256.1	20.7	375	9930	0.00	1.83	0.00	0.000	6	0.000	0.048	3138	2163	1206	0	0	0	0	0	0	28.83	14.65	28.83
10242	1.48	299.5	190.3	20.6	391	10243	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2165	1206	0	0	0	0	0	0	28.83	28.83	28.83
10543	1.48	299.5	128.4	21.1	406	10548	0.00	1.83	0.00	0.000	4	0.000	0.062	3138	3209	1206	0	0	0	0	0	0	28.83	14.71	28.83
10774	1.48	299.5	82.3	20.8	417	10781	0.00	1.83	0.00	0.000	6	0.000	0.047	3138	2161	1206	0	0	0	0	0	0	28.83	14.69	28.83
11088	1.63	371.5	31.1	12.9	439	11139	0.00	1.85	44.03	1.182	4	0.000	0.070	3138	1115	914	0	0	0	0	0	0	28.83	14.47	13.81
11291	end climb: SURFACE_DEPTH_REACHED
state	11291	begin surface coast
11303	end surface coast: CONTROL_FINISHED_OK
state	11303	begin surface