Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 46 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 HEADING -1 ROLL_MAX 3764 ALTIM_PING_DEPTH 500

DIVE 46 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2275 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 425 R_PORT_OVSHOOT 67 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 53 INT_PRESSURE_YINT 0

T_BOOST 4 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2968 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 330 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -8 T_GPS_CHARGE -968547 CF8_MAXERRORS 0 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 200 PITCH_MAX 3944 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2740 PRESSURE_YINT -16.305099 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52251 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 2 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 50 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_TGT 990 PITCH_CNV 0.0031256729 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.305099 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 330

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 5

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -968547

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2740 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2250 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2275 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2968 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -8

DEEPGLIDERMB 0 MASS 52251 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 67 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 53 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 14 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -9.8829851 VBD_MIN 460

DIVE 46 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 0

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 221012,091536,2237.130,12116.761,32,0.8,32,-3.3 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 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221012,092136,2237.243,12116.751,5,0.8,5,-3.3 MHEAD_RNG_PITCHd_Wd 19.1,51211,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 967

Post-dive calculations and measurements:

FINISH 0.7,0.999862 _10V_AH 10.0,8.848

SM_CCo 10631,0.00,0.000,0,0,577,586.27 FG_AHR_24Vo 0.000

SM_GC 1.55,7.45,0.00,0.00,0.026,0.000,0.000,116,2259,577,-8.12,-0.45,586.27,0,0,0,0,0,0,26.53,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2230.01,12109.84,221012,060605 MEM 323840

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 20119,591

HUMID 54.64 CAP_FILE_SIZE 136332,0

INTERNAL_PRESSURE 9.43396 CFSIZE 260165632,245563392

TCM_TEMP 25.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 6 CURRENT 0.164, 18.8,1

ALTIM_BOTTOM_PING 552.1,7.9 GPS 221012,122035,2239.770,12117.745,36,1.0,36,-3.3

_24V_AH 24.3,16.399

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 230 115.13 nil 0 0 0.00

Roll_motor 82 62 126.48 nil 0 0 0.00

VBD_pump_during_apogee 611 1248 18538.07 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 10566 15 3942.97

Iridium_during_xfer 209 121 619.23 nil 0 0 0.00

Transponder_ping 2 420 22.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.57

TT8 1774 14 261.01

LPSleep 6695 2 146.64

TT8_Active 644 14 94.88

TT8_Sampling 1633 37 619.67

TT8_CF8 252 44 112.80

TT8_Kalman 0 0 0.00

Analog_circuits 1680 16 268.83

GPS_charging 0 0 0.00

Compass 1364 8 112.43

RAFOS 0 0 0.00

Transponder 7 30 2.18

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.47 -195.5 0.0 0.0 0 90 0.00 0.00 -69.43 0.000 2 0.000 0.000 117 2265 2507 0 0 0 0 0 0 28.83 28.83 28.83

93 -0.47 -195.5 3.2 -5.5 12 142 9.68 2.22 -29.42 0.000 4 0.230 0.063 2575 3666 3769 0 0 0 0 0 0 25.77 26.23 26.58

268 -0.46 -195.5 29.4 -16.6 42 273 0.00 2.00 0.00 0.000 6 0.000 0.018 2575 2229 3769 0 0 0 0 0 0 28.83 26.46 28.83

591 -0.47 -195.5 79.0 -12.4 64 597 0.00 1.88 0.00 0.000 4 0.000 0.024 2574 907 3769 0 0 0 0 0 0 28.83 26.53 28.83

615 -0.50 -195.5 81.6 -11.5 65 620 0.00 1.98 0.00 0.000 6 0.000 0.026 2574 2275 3770 0 0 0 0 0 0 28.83 26.51 28.83

939 -0.56 -195.5 106.8 -8.3 81 944 0.00 2.10 0.00 0.000 4 0.000 0.043 2574 3670 3771 0 0 0 0 0 0 28.83 26.51 28.83

1117 -0.64 -195.5 120.2 -8.2 89 1125 0.12 1.95 0.00 0.000 6 0.075 0.020 2490 2265 3771 0 0 0 0 0 0 26.61 26.70 28.83

1422 -0.61 -195.5 164.8 -14.7 105 1429 0.15 1.92 0.00 0.000 4 0.146 0.024 2538 896 3771 0 0 0 0 0 0 26.46 26.66 28.83

1514 -0.64 -195.5 173.4 -9.9 109 1519 0.00 2.00 0.00 0.000 6 0.000 0.028 2535 2279 3771 0 0 0 0 0 0 28.83 26.64 28.83

1833 -0.69 -195.5 201.5 -9.4 125 1838 0.00 2.10 0.00 0.000 4 0.000 0.046 2534 3673 3771 0 0 0 0 0 0 28.83 26.58 28.83

1917 -0.75 -195.5 208.0 -7.7 129 1923 0.12 1.95 0.00 0.000 6 0.077 0.019 2452 2271 3771 0 0 0 0 0 0 26.67 26.75 28.83

2241 -0.72 -195.5 254.6 -14.8 145 2247 0.15 2.15 0.00 0.000 4 0.145 0.044 2499 3676 3771 0 0 0 0 0 0 26.49 26.60 28.83

2280 -0.71 -195.5 258.0 -14.8 146 2287 0.00 1.92 0.00 0.000 6 0.000 0.018 2499 2281 3771 0 0 0 0 0 0 28.83 26.76 28.83

2586 -0.74 -195.5 287.8 -8.3 162 2588 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2281 3770 0 0 0 0 0 0 28.83 28.83 28.83

2888 -0.78 -195.5 313.1 -8.2 177 2894 0.00 2.15 0.00 0.000 4 0.000 0.050 2498 3675 3768 0 0 0 0 0 0 28.83 26.58 28.83

2961 -0.83 -195.5 318.6 -8.3 180 2967 0.00 1.95 0.00 0.000 6 0.000 0.019 2498 2247 3771 0 0 0 0 0 0 28.83 26.80 28.83

3275 -0.87 -195.5 346.8 -8.5 196 3281 0.12 2.17 0.00 0.000 4 0.080 0.041 2414 3674 3766 0 0 0 0 0 0 26.80 26.59 28.83

3314 -0.90 -195.5 349.4 -9.0 197 3321 0.12 1.92 0.00 0.000 6 0.156 0.019 2447 2271 3766 0 0 0 0 0 0 26.45 26.78 28.83

3619 -0.90 -195.5 386.1 -11.0 213 3620 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2272 3764 0 0 0 0 0 0 28.83 28.83 28.83

3921 -0.90 -195.5 421.6 -11.1 228 3922 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2271 3762 0 0 0 0 0 0 28.83 28.83 28.83

4220 -0.90 -195.5 451.4 -10.2 243 4226 0.00 2.15 0.00 0.000 4 0.000 0.047 2447 3672 3760 0 0 0 0 0 0 28.83 26.57 28.83

4324 -0.90 -195.5 462.2 -10.2 248 4330 0.00 1.95 0.00 0.000 6 0.000 0.021 2447 2275 3759 0 0 0 0 0 0 28.83 26.79 28.83

4648 -0.90 -195.5 499.3 -11.9 264 4649 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2272 3757 0 0 0 0 0 0 28.83 28.83 28.83

4950 -0.90 -195.5 533.8 -11.3 279 4955 0.00 2.15 0.00 0.000 4 0.000 0.045 2446 3676 3755 0 0 0 0 0 0 28.83 26.55 28.83

5038 -0.91 -195.5 543.2 -11.0 283 5043 0.00 1.95 0.00 0.000 6 0.000 0.021 2446 2268 3754 0 0 0 0 0 0 28.83 26.79 28.83

5117 end dive: BOTTOM_OBSTACLE_DETECTED

state 5117 begin apogee

5123 -0.20 0.0 552.1 -10.8 287 5282 0.65 0.00 151.90 0.894 6 0.107 0.000 2669 2264 2966 0 0 0 0 0 0 26.31 28.83 24.45

5284 end apogee: CONTROL_FINISHED_OK

state 5284 begin climb

5286 0.47 195.5 559.6 0.0 295 5457 0.57 2.28 158.68 0.857 4 0.041 0.044 2905 3651 2160 0 0 0 0 0 0 25.30 25.00 24.34

5656 0.41 195.5 528.0 14.5 313 5665 0.15 2.05 0.00 0.000 6 0.156 0.026 2872 2282 2153 0 0 0 0 0 0 25.78 26.03 28.83

5963 0.39 207.3 494.3 9.6 329 5974 0.00 2.17 3.55 0.815 4 0.000 0.045 2871 3645 2123 0 0 0 0 0 0 28.83 26.22 25.04

6036 0.37 208.8 487.7 9.9 332 6047 0.00 2.05 3.47 0.822 6 0.000 0.024 2875 2238 2118 0 0 0 0 0 0 28.83 26.35 25.03

6347 0.35 223.8 458.1 9.5 348 6375 0.00 2.22 16.67 0.944 4 0.000 0.044 2875 3649 2056 0 0 0 0 1 0 28.83 26.04 24.98

6422 0.33 223.8 451.8 10.0 351 6429 0.00 2.08 0.00 0.000 6 0.000 0.032 2875 2250 2059 0 0 0 0 0 0 28.83 26.16 28.83

6728 0.33 258.8 421.8 8.8 367 6772 0.00 2.33 33.53 1.248 4 0.000 0.044 2875 3650 1912 0 0 0 0 1 0 28.83 25.46 24.47

6845 0.32 273.1 412.1 9.5 372 6872 0.12 2.10 15.65 0.871 6 0.150 0.026 2842 2245 1853 0 0 0 0 1 0 25.74 25.91 24.60

7171 0.38 355.3 388.2 7.2 389 7254 0.00 2.33 75.07 0.802 4 0.000 0.043 2842 3643 1511 0 0 0 0 0 0 28.83 25.27 24.65

7302 0.46 428.0 378.8 7.5 395 7373 0.15 2.12 62.78 0.775 6 0.068 0.024 2921 2225 1218 0 0 0 0 0 0 25.72 25.73 24.57

7673 0.46 428.0 333.1 12.4 414 7679 0.12 2.03 0.00 0.000 4 0.139 0.032 2881 869 1207 0 0 0 0 0 0 26.05 26.14 28.83

7712 0.48 428.0 330.4 12.2 415 7720 0.00 2.05 0.00 0.000 6 0.000 0.026 2881 2254 1206 0 0 0 0 0 0 28.83 26.20 28.83

8018 0.54 483.2 302.8 8.1 431 8076 0.10 2.25 47.53 0.745 4 0.093 0.042 2947 3643 987 0 0 0 0 0 0 26.45 25.63 25.03

8110 0.54 483.2 292.4 12.8 435 8116 0.12 2.05 0.00 0.000 6 0.145 0.023 2914 2262 983 0 0 0 0 0 0 25.72 25.88 28.83

8424 0.58 483.2 255.1 11.3 451 8429 0.00 2.08 0.00 0.000 4 0.000 0.033 2915 864 981 0 0 0 0 0 0 28.83 26.26 28.83

8471 0.62 483.2 250.6 10.8 453 8478 0.00 2.05 0.00 0.000 6 0.000 0.025 2915 2259 981 0 0 0 0 0 0 28.83 26.32 28.83

8791 0.66 483.2 216.8 10.2 469 8793 0.12 0.00 0.00 0.000 6 0.077 0.000 2990 2259 980 0 0 0 0 0 0 26.53 28.83 28.83

9093 0.64 483.2 163.7 18.1 484 9095 0.15 0.00 0.00 0.000 6 0.128 0.000 2946 2260 980 0 0 0 0 0 0 26.40 28.83 28.83

9392 0.65 483.2 126.1 12.4 499 9393 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 2259 980 0 0 0 0 0 0 28.83 28.83 28.83

9693 0.70 512.5 94.5 9.0 514 9707 0.00 0.00 10.10 0.329 6 0.000 0.000 2947 2260 878 0 0 0 0 0 0 28.83 28.83 25.89

10015 0.78 533.6 66.3 9.3 530 10031 0.12 2.17 9.48 0.265 4 0.078 0.041 3039 3654 791 0 0 0 0 0 0 26.69 26.47 25.95

10054 0.84 552.1 63.8 9.4 531 10070 0.12 2.03 8.05 0.259 6 0.148 0.021 3008 2234 716 0 0 0 0 0 0 26.34 26.58 25.95

10375 0.87 552.1 25.8 10.5 559 10380 0.00 1.98 0.00 0.000 4 0.000 0.030 3007 866 723 0 0 0 0 0 0 28.83 26.54 28.83

10440 0.95 587.2 19.8 8.8 570 10460 0.12 2.00 14.60 0.166 6 0.074 0.023 3094 2259 572 0 0 0 0 0 0 26.56 26.58 26.13

10536 end climb: SURFACE_DEPTH_REACHED

state 10536 begin surface coast

10553 end surface coast: CONTROL_FINISHED_OK

state 10553 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	HEADING	-1	ROLL_MAX	3764	ALTIM_PING_DEPTH	500
DIVE	46	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2275	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	425	R_PORT_OVSHOOT	67	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	53	INT_PRESSURE_YINT	0
T_BOOST	4	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2968	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	330	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-8	T_GPS_CHARGE	-968547	CF8_MAXERRORS	0	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	200	PITCH_MAX	3944	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2740	PRESSURE_YINT	-16.305099	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52251	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	2	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	50	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	221012,091536,2237.130,12116.761,32,0.8,32,-3.3	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	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221012,092136,2237.243,12116.751,5,0.8,5,-3.3	MHEAD_RNG_PITCHd_Wd	19.1,51211,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	967

FINISH	0.7,0.999862	_10V_AH	10.0,8.848
SM_CCo	10631,0.00,0.000,0,0,577,586.27	FG_AHR_24Vo	0.000
SM_GC	1.55,7.45,0.00,0.00,0.026,0.000,0.000,116,2259,577,-8.12,-0.45,586.27,0,0,0,0,0,0,26.53,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2230.01,12109.84,221012,060605	MEM	323840
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	20119,591
HUMID	54.64	CAP_FILE_SIZE	136332,0
INTERNAL_PRESSURE	9.43396	CFSIZE	260165632,245563392
TCM_TEMP	25.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	6	CURRENT	0.164, 18.8,1
ALTIM_BOTTOM_PING	552.1,7.9	GPS	221012,122035,2239.770,12117.745,36,1.0,36,-3.3
_24V_AH	24.3,16.399

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	230	115.13	nil	0	0	0.00
Roll_motor	82	62	126.48	nil	0	0	0.00
VBD_pump_during_apogee	611	1248	18538.07	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	10566	15	3942.97
Iridium_during_xfer	209	121	619.23	nil	0	0	0.00
Transponder_ping	2	420	22.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.57
TT8	1774	14	261.01
LPSleep	6695	2	146.64
TT8_Active	644	14	94.88
TT8_Sampling	1633	37	619.67
TT8_CF8	252	44	112.80
TT8_Kalman	0	0	0.00
Analog_circuits	1680	16	268.83
GPS_charging	0	0	0.00
Compass	1364	8	112.43
RAFOS	0	0	0.00
Transponder	7	30	2.18

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.47	-195.5	0.0	0.0	0	90	0.00	0.00	-69.43	0.000	2	0.000	0.000	117	2265	2507	0	0	0	0	0	0	28.83	28.83	28.83
93	-0.47	-195.5	3.2	-5.5	12	142	9.68	2.22	-29.42	0.000	4	0.230	0.063	2575	3666	3769	0	0	0	0	0	0	25.77	26.23	26.58
268	-0.46	-195.5	29.4	-16.6	42	273	0.00	2.00	0.00	0.000	6	0.000	0.018	2575	2229	3769	0	0	0	0	0	0	28.83	26.46	28.83
591	-0.47	-195.5	79.0	-12.4	64	597	0.00	1.88	0.00	0.000	4	0.000	0.024	2574	907	3769	0	0	0	0	0	0	28.83	26.53	28.83
615	-0.50	-195.5	81.6	-11.5	65	620	0.00	1.98	0.00	0.000	6	0.000	0.026	2574	2275	3770	0	0	0	0	0	0	28.83	26.51	28.83
939	-0.56	-195.5	106.8	-8.3	81	944	0.00	2.10	0.00	0.000	4	0.000	0.043	2574	3670	3771	0	0	0	0	0	0	28.83	26.51	28.83
1117	-0.64	-195.5	120.2	-8.2	89	1125	0.12	1.95	0.00	0.000	6	0.075	0.020	2490	2265	3771	0	0	0	0	0	0	26.61	26.70	28.83
1422	-0.61	-195.5	164.8	-14.7	105	1429	0.15	1.92	0.00	0.000	4	0.146	0.024	2538	896	3771	0	0	0	0	0	0	26.46	26.66	28.83
1514	-0.64	-195.5	173.4	-9.9	109	1519	0.00	2.00	0.00	0.000	6	0.000	0.028	2535	2279	3771	0	0	0	0	0	0	28.83	26.64	28.83
1833	-0.69	-195.5	201.5	-9.4	125	1838	0.00	2.10	0.00	0.000	4	0.000	0.046	2534	3673	3771	0	0	0	0	0	0	28.83	26.58	28.83
1917	-0.75	-195.5	208.0	-7.7	129	1923	0.12	1.95	0.00	0.000	6	0.077	0.019	2452	2271	3771	0	0	0	0	0	0	26.67	26.75	28.83
2241	-0.72	-195.5	254.6	-14.8	145	2247	0.15	2.15	0.00	0.000	4	0.145	0.044	2499	3676	3771	0	0	0	0	0	0	26.49	26.60	28.83
2280	-0.71	-195.5	258.0	-14.8	146	2287	0.00	1.92	0.00	0.000	6	0.000	0.018	2499	2281	3771	0	0	0	0	0	0	28.83	26.76	28.83
2586	-0.74	-195.5	287.8	-8.3	162	2588	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2281	3770	0	0	0	0	0	0	28.83	28.83	28.83
2888	-0.78	-195.5	313.1	-8.2	177	2894	0.00	2.15	0.00	0.000	4	0.000	0.050	2498	3675	3768	0	0	0	0	0	0	28.83	26.58	28.83
2961	-0.83	-195.5	318.6	-8.3	180	2967	0.00	1.95	0.00	0.000	6	0.000	0.019	2498	2247	3771	0	0	0	0	0	0	28.83	26.80	28.83
3275	-0.87	-195.5	346.8	-8.5	196	3281	0.12	2.17	0.00	0.000	4	0.080	0.041	2414	3674	3766	0	0	0	0	0	0	26.80	26.59	28.83
3314	-0.90	-195.5	349.4	-9.0	197	3321	0.12	1.92	0.00	0.000	6	0.156	0.019	2447	2271	3766	0	0	0	0	0	0	26.45	26.78	28.83
3619	-0.90	-195.5	386.1	-11.0	213	3620	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2272	3764	0	0	0	0	0	0	28.83	28.83	28.83
3921	-0.90	-195.5	421.6	-11.1	228	3922	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2271	3762	0	0	0	0	0	0	28.83	28.83	28.83
4220	-0.90	-195.5	451.4	-10.2	243	4226	0.00	2.15	0.00	0.000	4	0.000	0.047	2447	3672	3760	0	0	0	0	0	0	28.83	26.57	28.83
4324	-0.90	-195.5	462.2	-10.2	248	4330	0.00	1.95	0.00	0.000	6	0.000	0.021	2447	2275	3759	0	0	0	0	0	0	28.83	26.79	28.83
4648	-0.90	-195.5	499.3	-11.9	264	4649	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2272	3757	0	0	0	0	0	0	28.83	28.83	28.83
4950	-0.90	-195.5	533.8	-11.3	279	4955	0.00	2.15	0.00	0.000	4	0.000	0.045	2446	3676	3755	0	0	0	0	0	0	28.83	26.55	28.83
5038	-0.91	-195.5	543.2	-11.0	283	5043	0.00	1.95	0.00	0.000	6	0.000	0.021	2446	2268	3754	0	0	0	0	0	0	28.83	26.79	28.83
5117	end dive: BOTTOM_OBSTACLE_DETECTED
state	5117	begin apogee
5123	-0.20	0.0	552.1	-10.8	287	5282	0.65	0.00	151.90	0.894	6	0.107	0.000	2669	2264	2966	0	0	0	0	0	0	26.31	28.83	24.45
5284	end apogee: CONTROL_FINISHED_OK
state	5284	begin climb
5286	0.47	195.5	559.6	0.0	295	5457	0.57	2.28	158.68	0.857	4	0.041	0.044	2905	3651	2160	0	0	0	0	0	0	25.30	25.00	24.34
5656	0.41	195.5	528.0	14.5	313	5665	0.15	2.05	0.00	0.000	6	0.156	0.026	2872	2282	2153	0	0	0	0	0	0	25.78	26.03	28.83
5963	0.39	207.3	494.3	9.6	329	5974	0.00	2.17	3.55	0.815	4	0.000	0.045	2871	3645	2123	0	0	0	0	0	0	28.83	26.22	25.04
6036	0.37	208.8	487.7	9.9	332	6047	0.00	2.05	3.47	0.822	6	0.000	0.024	2875	2238	2118	0	0	0	0	0	0	28.83	26.35	25.03
6347	0.35	223.8	458.1	9.5	348	6375	0.00	2.22	16.67	0.944	4	0.000	0.044	2875	3649	2056	0	0	0	0	1	0	28.83	26.04	24.98
6422	0.33	223.8	451.8	10.0	351	6429	0.00	2.08	0.00	0.000	6	0.000	0.032	2875	2250	2059	0	0	0	0	0	0	28.83	26.16	28.83
6728	0.33	258.8	421.8	8.8	367	6772	0.00	2.33	33.53	1.248	4	0.000	0.044	2875	3650	1912	0	0	0	0	1	0	28.83	25.46	24.47
6845	0.32	273.1	412.1	9.5	372	6872	0.12	2.10	15.65	0.871	6	0.150	0.026	2842	2245	1853	0	0	0	0	1	0	25.74	25.91	24.60
7171	0.38	355.3	388.2	7.2	389	7254	0.00	2.33	75.07	0.802	4	0.000	0.043	2842	3643	1511	0	0	0	0	0	0	28.83	25.27	24.65
7302	0.46	428.0	378.8	7.5	395	7373	0.15	2.12	62.78	0.775	6	0.068	0.024	2921	2225	1218	0	0	0	0	0	0	25.72	25.73	24.57
7673	0.46	428.0	333.1	12.4	414	7679	0.12	2.03	0.00	0.000	4	0.139	0.032	2881	869	1207	0	0	0	0	0	0	26.05	26.14	28.83
7712	0.48	428.0	330.4	12.2	415	7720	0.00	2.05	0.00	0.000	6	0.000	0.026	2881	2254	1206	0	0	0	0	0	0	28.83	26.20	28.83
8018	0.54	483.2	302.8	8.1	431	8076	0.10	2.25	47.53	0.745	4	0.093	0.042	2947	3643	987	0	0	0	0	0	0	26.45	25.63	25.03
8110	0.54	483.2	292.4	12.8	435	8116	0.12	2.05	0.00	0.000	6	0.145	0.023	2914	2262	983	0	0	0	0	0	0	25.72	25.88	28.83
8424	0.58	483.2	255.1	11.3	451	8429	0.00	2.08	0.00	0.000	4	0.000	0.033	2915	864	981	0	0	0	0	0	0	28.83	26.26	28.83
8471	0.62	483.2	250.6	10.8	453	8478	0.00	2.05	0.00	0.000	6	0.000	0.025	2915	2259	981	0	0	0	0	0	0	28.83	26.32	28.83
8791	0.66	483.2	216.8	10.2	469	8793	0.12	0.00	0.00	0.000	6	0.077	0.000	2990	2259	980	0	0	0	0	0	0	26.53	28.83	28.83
9093	0.64	483.2	163.7	18.1	484	9095	0.15	0.00	0.00	0.000	6	0.128	0.000	2946	2260	980	0	0	0	0	0	0	26.40	28.83	28.83
9392	0.65	483.2	126.1	12.4	499	9393	0.00	0.00	0.00	0.000	6	0.000	0.000	2942	2259	980	0	0	0	0	0	0	28.83	28.83	28.83
9693	0.70	512.5	94.5	9.0	514	9707	0.00	0.00	10.10	0.329	6	0.000	0.000	2947	2260	878	0	0	0	0	0	0	28.83	28.83	25.89
10015	0.78	533.6	66.3	9.3	530	10031	0.12	2.17	9.48	0.265	4	0.078	0.041	3039	3654	791	0	0	0	0	0	0	26.69	26.47	25.95
10054	0.84	552.1	63.8	9.4	531	10070	0.12	2.03	8.05	0.259	6	0.148	0.021	3008	2234	716	0	0	0	0	0	0	26.34	26.58	25.95
10375	0.87	552.1	25.8	10.5	559	10380	0.00	1.98	0.00	0.000	4	0.000	0.030	3007	866	723	0	0	0	0	0	0	28.83	26.54	28.83
10440	0.95	587.2	19.8	8.8	570	10460	0.12	2.00	14.60	0.166	6	0.074	0.023	3094	2259	572	0	0	0	0	0	0	26.56	26.58	26.13
10536	end climb: SURFACE_DEPTH_REACHED
state	10536	begin surface coast
10553	end surface coast: CONTROL_FINISHED_OK
state	10553	begin surface