Glider dive log

OKMC Nov12 * SG170 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 170 HD_C 8e-06 ROLL_MIN 165 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 10 HEADING -1 ROLL_MAX 3698 ALTIM_PING_DEPTH 0

DIVE 5 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3000 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3000 ALTIM_PULSE 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 540 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 3

D_ABORT 1040 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 200 SM_CC 450 R_PORT_OVSHOOT 66 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 20 N_FILEKB 8 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT -0.60000002

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 300 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 2 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 2769 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 180 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 220 CALL_WAIT 60 VBD_TIMEOUT 540 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00060000003 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 20 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -7 T_GPS_CHARGE -141889.62 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 100 RAFOS_DEVICE -1

D_OFFGRID 1000 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 -5 PITCH_MIN 139 FG_AHR_24V 0 SEABIRD_T_G 0.0043559377

MAX_BUOY 200 PITCH_MAX 3933 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062550703

COURSE_BIAS 0 C_PITCH 3110 PRESSURE_YINT -48.120956 SEABIRD_T_I 2.3551509e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164274 SEABIRD_T_J 2.509174e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.138787

RHO 1.0275 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1450038

MASS 51479 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015582878

NAV_MODE 2 PITCH_TIMEOUT 16 COMPASS_USE 4 SEABIRD_C_J 0.00020114503

FERRY_MAX 45 PITCH_AD_RATE 155 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 0.0049999999 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.0089999996 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 155 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 540 PITCH_CNV 0.003125763 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3933 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 139 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00060000003 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164274 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -48.120956 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0049999999 PROTOCOL 9 T_BOOST 0

CALL_TRIES 5 HD_B 0.0089999996 P_OVSHOOT 0.039999999 T_DIVE 180

CALL_WAIT 60 HD_C 8e-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 20 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -141889.62

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 170 RHO 1.0275 T_MISSION 220

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.60000002 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 300 T_TURN 225

C_PITCH 3110 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 3000 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 3000 LOGGERDEVICE3 -1 ROLL_MAX 3698 UNCOM_BLEED 20

C_VBD 2769 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 165 USE_BATHY -7

DEEPGLIDERMB 0 MASS 51479 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 66 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 10 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 -10.138787 VBD_MIN 460

DIVE 5 NOCOMM_ACTION 163 SEABIRD_C_H 1.1450038 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1040 N_DIVES 0 SEABIRD_C_I -0.0015582878 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_FILEKB 8 SEABIRD_C_J 0.00020114503 VBD_TIMEOUT 540

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043559377 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_H 0.00062550703 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3551509e-05 XPDR_VALID 3

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_T_J 2.509174e-06

Pre-dive calculations and measurements:

GPS1 061112,041329,2153.041,12027.146,36,0.8,36,-3.1 TGT_NAME W2

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 061112,042000,2152.794,12027.270,20,0.9,20,-3.1 MHEAD_RNG_PITCHd_Wd 301.0,49078,-15.6,-10.000,-17.73

SPEED_LIMITS 0.173,0.313 D_GRID 849

Post-dive calculations and measurements:

FINISH 1.7,1.022039 _10V_AH 10.1,0.589

SM_CCo 8943,0.00,0.000,0,0,459,566.64 FG_AHR_24Vo 0.000

SM_GC 1.89,8.73,0.00,0.00,0.067,0.000,0.000,134,3005,459,-9.26,0.14,566.64,0,0,0,0,0,0,26.42,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12028.76,061112,010158 MEM 324400

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 16820,472

HUMID 53.89 CAP_FILE_SIZE 125976,0

INTERNAL_PRESSURE 9.51758 CFSIZE 260034560,250408960

TCM_TEMP 23.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.343,164.3,1

SC_FREEKB 4018208 GPS 061112,065024,2151.978,12027.217,17,1.3,17,-3.1

_24V_AH 24.4,1.407

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 258 152.05 nil 0 0 0.00

Roll_motor 65 92 147.77 nil 0 0 0.00

VBD_pump_during_apogee 613 1106 16554.28 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 8881 11 2446.50

Iridium_during_xfer 242 126 752.64 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 30 6.58

TT8 1654 13 221.31

LPSleep 5235 2 115.79

TT8_Active 652 13 87.28

TT8_Sampling 1643 38 642.73

TT8_CF8 153 45 70.49

TT8_Kalman 0 0 0.00

Analog_circuits 1689 15 272.59

GPS_charging 0 0 0.00

Compass 1306 8 108.77

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.51 -194.6 0.0 0.0 0 111 0.00 0.00 -89.72 0.000 2 0.000 0.000 133 2987 2572 0 0 0 0 0 0 28.83 28.83 28.83

115 -0.51 -194.6 3.1 -2.2 16 152 11.52 1.20 -19.83 0.000 4 0.259 0.093 2936 3698 3564 0 0 0 0 0 0 26.15 26.36 26.68

249 -0.33 -194.6 49.4 -37.9 34 257 0.20 1.02 0.00 0.000 6 0.180 0.037 2996 3017 3564 0 0 0 0 0 0 26.31 26.52 28.83

437 -0.36 -194.6 83.4 -12.1 44 443 0.00 2.08 0.00 0.000 4 0.000 0.028 2995 1558 3564 0 0 0 0 0 0 28.83 26.60 28.83

449 -0.40 -194.6 83.4 -12.1 44 455 0.00 2.25 0.00 0.000 6 0.000 0.054 2996 3002 3564 0 0 0 0 0 0 28.83 26.55 28.83

644 -0.49 -194.6 99.5 -6.7 54 649 0.12 1.10 0.00 0.000 4 0.094 0.058 2923 3700 3564 0 0 0 0 0 0 26.67 26.62 28.83

876 -0.46 -194.6 133.3 -14.7 65 882 0.10 1.05 0.00 0.000 6 0.132 0.034 2959 2980 3565 0 0 0 0 0 0 26.59 26.74 28.83

1071 -0.55 -194.6 145.6 -5.0 75 1076 0.00 1.15 0.00 0.000 4 0.000 0.061 2959 3696 3565 0 0 0 0 0 0 28.83 26.70 28.83

1303 -0.65 -194.6 158.9 -6.2 86 1310 0.15 1.02 0.00 0.000 6 0.069 0.035 2888 2995 3565 0 0 0 0 0 0 26.73 26.80 28.83

1500 -0.72 -194.6 175.0 -8.3 96 1505 0.00 2.03 0.00 0.000 4 0.000 0.028 2888 1567 3565 0 0 0 0 0 0 28.83 26.82 28.83

1552 -0.78 -194.6 178.8 -8.2 98 1558 0.00 2.25 0.00 0.000 6 0.000 0.055 2888 3007 3565 0 0 0 0 0 0 28.83 26.74 28.83

1745 -0.78 -194.6 200.5 -11.2 108 1750 0.00 1.08 0.00 0.000 4 0.000 0.064 2888 3691 3565 0 0 0 0 0 0 28.83 26.75 28.83

1978 -0.78 -194.6 223.3 -9.1 119 1984 0.00 1.00 0.00 0.000 6 0.000 0.034 2888 3003 3564 0 0 0 0 0 0 28.83 26.85 28.83

2172 -0.81 -194.6 238.1 -7.2 129 2178 0.12 1.12 0.00 0.000 4 0.095 0.060 2812 3701 3564 0 0 0 0 0 0 26.86 26.78 28.83

2405 -0.71 -194.6 284.9 -23.7 140 2411 0.17 1.02 0.00 0.000 6 0.158 0.034 2871 3000 3563 0 0 0 0 0 0 26.67 26.86 28.83

2719 -0.72 -194.6 320.7 -9.8 156 2724 0.00 2.03 0.00 0.000 4 0.000 0.028 2872 1567 3561 0 0 0 0 0 0 28.83 26.87 28.83

2823 -0.79 -194.6 330.3 -9.1 161 2828 0.00 2.25 0.00 0.000 6 0.000 0.057 2871 3011 3561 0 0 0 0 0 0 28.83 26.79 28.83

3146 -0.81 -194.6 368.7 -11.8 177 3152 0.00 2.08 0.00 0.000 4 0.000 0.029 2872 1570 3558 0 0 0 0 0 0 28.83 26.89 28.83

3254 -0.87 -194.6 378.4 -8.8 182 3260 0.12 2.25 0.00 0.000 6 0.096 0.060 2806 3008 3558 0 0 0 0 0 0 26.82 26.79 28.83

3573 -0.82 -194.6 428.0 -15.5 198 3579 0.12 1.10 0.00 0.000 4 0.188 0.067 2845 3695 3555 0 0 0 0 0 0 26.72 26.79 28.83

3806 -0.79 -194.6 458.2 -13.9 209 3811 0.00 1.02 0.00 0.000 6 0.000 0.037 2845 3007 3553 0 0 0 0 0 0 28.83 26.89 28.83

4119 -0.79 -194.6 500.8 -14.1 225 4124 0.00 2.05 0.00 0.000 4 0.000 0.031 2845 1569 3552 0 0 0 0 0 0 28.83 26.89 28.83

4182 -0.81 -194.6 508.8 -12.9 228 4187 0.00 2.28 0.00 0.000 6 0.000 0.062 2845 2996 3552 0 0 0 0 0 0 28.83 26.79 28.83

4382 end dive: TARGET_DEPTH_EXCEEDED

state 4383 begin apogee

4387 -0.12 0.0 540.0 -16.2 238 4546 0.65 0.00 149.90 1.106 6 0.132 0.000 3066 2997 2768 0 0 0 0 0 0 26.72 28.83 24.45

4548 end apogee: CONTROL_FINISHED_OK

state 4548 begin climb

4550 0.51 194.6 554.1 0.0 246 4719 0.52 1.23 159.57 1.079 4 0.044 0.063 3293 3698 1974 0 0 0 0 0 0 25.37 25.07 24.40

4811 0.30 194.6 518.4 29.5 259 4817 0.28 1.10 0.00 0.000 6 0.168 0.034 3214 2984 1968 0 0 0 0 0 0 25.77 25.94 28.83

5130 0.21 194.6 463.1 15.9 275 5136 0.12 2.05 0.00 0.000 4 0.181 0.031 3185 1584 1963 0 0 0 0 0 0 26.30 26.42 28.83

5178 0.16 194.6 457.5 14.3 277 5184 0.00 2.28 0.00 0.000 6 0.000 0.058 3185 3005 1962 0 0 0 0 0 0 28.83 26.41 28.83

5497 0.12 194.6 416.8 12.1 293 5502 0.12 1.10 0.00 0.000 4 0.169 0.062 3145 3694 1962 0 0 0 0 0 0 26.48 26.56 28.83

5524 0.08 194.6 414.2 11.9 294 5530 0.00 1.02 0.00 0.000 6 0.000 0.039 3147 3018 1962 0 0 0 0 0 0 28.83 26.63 28.83

5842 0.13 276.0 390.1 7.2 310 5912 0.00 2.28 63.80 1.016 4 0.000 0.032 3147 1579 1642 0 0 0 0 0 0 28.83 25.58 24.88

5946 0.22 367.9 383.1 6.8 315 6029 0.10 2.35 74.00 0.990 6 0.113 0.057 3195 3009 1269 0 0 0 0 0 0 25.79 25.79 24.53

6347 0.22 367.9 331.9 13.0 335 6352 0.00 1.12 0.00 0.000 4 0.000 0.066 3195 3701 1262 0 0 0 0 0 0 28.83 26.28 28.83

6419 0.20 367.9 323.3 13.5 338 6424 0.00 1.08 0.00 0.000 6 0.000 0.036 3199 2990 1263 0 0 0 0 0 0 28.83 26.42 28.83

6732 0.20 369.1 288.3 10.0 354 6738 0.00 2.08 0.00 0.000 4 0.000 0.033 3199 1583 1261 0 0 0 0 0 0 28.83 26.56 28.83

6770 0.20 369.9 286.0 10.0 355 6776 0.00 2.28 0.00 0.000 6 0.000 0.058 3199 3009 1261 0 0 0 0 0 0 28.83 26.53 28.83

7076 0.20 369.9 245.4 12.9 371 7077 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 3009 1261 0 0 0 0 0 0 28.83 28.83 28.83

7256 0.24 419.7 229.0 8.3 380 7299 0.00 0.00 40.92 0.904 6 0.000 0.000 3199 3009 1056 0 0 0 0 0 0 28.83 28.83 25.31

7477 0.28 433.6 209.8 9.5 391 7497 0.00 1.12 11.98 0.822 4 0.000 0.065 3200 3691 1000 0 0 0 0 0 0 28.83 26.08 25.47

7540 0.31 433.6 202.6 11.1 394 7545 0.00 1.05 0.00 0.000 6 0.000 0.037 3199 3005 999 0 0 0 0 0 0 28.83 26.25 28.83

7744 0.40 483.3 184.4 8.3 404 7788 0.12 0.00 41.53 0.856 6 0.093 0.000 3272 3004 798 0 0 0 0 0 0 26.46 28.83 25.16

7963 0.37 483.3 146.2 18.2 415 7965 0.15 0.00 0.00 0.000 6 0.149 0.000 3229 3004 795 0 0 0 0 0 0 26.12 28.83 28.83

8143 0.46 510.8 125.9 9.1 424 8172 0.00 2.15 23.20 0.791 4 0.000 0.031 3229 1577 685 0 0 0 0 0 0 28.83 26.05 25.43

8210 0.62 594.6 121.7 7.1 427 8267 0.25 2.30 48.42 0.790 6 0.106 0.051 3315 3013 460 0 0 0 0 0 0 26.07 26.10 24.95

8445 0.79 594.6 94.9 12.3 439 8447 0.15 0.00 0.00 0.000 6 0.110 0.000 3369 3013 459 0 0 0 0 0 0 26.13 28.83 28.83

8625 0.96 594.6 74.3 10.6 448 8631 0.12 2.12 0.00 0.000 4 0.090 0.027 3452 1561 459 0 0 0 0 0 0 26.39 26.39 28.83

8658 1.10 594.6 72.0 10.5 449 8664 0.00 2.30 0.00 0.000 6 0.000 0.055 3452 3005 458 0 0 0 0 0 0 28.83 26.35 28.83

8847 0.94 594.6 4.8 40.9 469 8854 0.12 0.00 0.00 0.000 6 0.184 0.000 3415 3007 459 0 0 0 0 0 0 26.37 28.83 28.83

8859 end climb: SURFACE_DEPTH_REACHED

state 8859 begin surface coast

8866 end surface coast: CONTROL_FINISHED_OK

state 8866 begin surface

ID	170	HD_C	8e-06	ROLL_MIN	165	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	10	HEADING	-1	ROLL_MAX	3698	ALTIM_PING_DEPTH	0
DIVE	5	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3000	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3000	ALTIM_PULSE	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	540	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	3
D_ABORT	1040	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	200	SM_CC	450	R_PORT_OVSHOOT	66	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	20	N_FILEKB	8	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	300	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	2	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	2769	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	180	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	220	CALL_WAIT	60	VBD_TIMEOUT	540	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00060000003	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	20	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-7	T_GPS_CHARGE	-141889.62	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	100	RAFOS_DEVICE	-1
D_OFFGRID	1000	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	-5	PITCH_MIN	139	FG_AHR_24V	0	SEABIRD_T_G	0.0043559377
MAX_BUOY	200	PITCH_MAX	3933	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062550703
COURSE_BIAS	0	C_PITCH	3110	PRESSURE_YINT	-48.120956	SEABIRD_T_I	2.3551509e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164274	SEABIRD_T_J	2.509174e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.138787
RHO	1.0275	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1450038
MASS	51479	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015582878
NAV_MODE	2	PITCH_TIMEOUT	16	COMPASS_USE	4	SEABIRD_C_J	0.00020114503
FERRY_MAX	45	PITCH_AD_RATE	155	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	0.0049999999	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.0089999996	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	061112,041329,2153.041,12027.146,36,0.8,36,-3.1	TGT_NAME	W2
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	061112,042000,2152.794,12027.270,20,0.9,20,-3.1	MHEAD_RNG_PITCHd_Wd	301.0,49078,-15.6,-10.000,-17.73
SPEED_LIMITS	0.173,0.313	D_GRID	849

FINISH	1.7,1.022039	_10V_AH	10.1,0.589
SM_CCo	8943,0.00,0.000,0,0,459,566.64	FG_AHR_24Vo	0.000
SM_GC	1.89,8.73,0.00,0.00,0.067,0.000,0.000,134,3005,459,-9.26,0.14,566.64,0,0,0,0,0,0,26.42,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12028.76,061112,010158	MEM	324400
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	16820,472
HUMID	53.89	CAP_FILE_SIZE	125976,0
INTERNAL_PRESSURE	9.51758	CFSIZE	260034560,250408960
TCM_TEMP	23.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.343,164.3,1
SC_FREEKB	4018208	GPS	061112,065024,2151.978,12027.217,17,1.3,17,-3.1
_24V_AH	24.4,1.407

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	258	152.05	nil	0	0	0.00
Roll_motor	65	92	147.77	nil	0	0	0.00
VBD_pump_during_apogee	613	1106	16554.28	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	8881	11	2446.50
Iridium_during_xfer	242	126	752.64	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	30	6.58
TT8	1654	13	221.31
LPSleep	5235	2	115.79
TT8_Active	652	13	87.28
TT8_Sampling	1643	38	642.73
TT8_CF8	153	45	70.49
TT8_Kalman	0	0	0.00
Analog_circuits	1689	15	272.59
GPS_charging	0	0	0.00
Compass	1306	8	108.77
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.51	-194.6	0.0	0.0	0	111	0.00	0.00	-89.72	0.000	2	0.000	0.000	133	2987	2572	0	0	0	0	0	0	28.83	28.83	28.83
115	-0.51	-194.6	3.1	-2.2	16	152	11.52	1.20	-19.83	0.000	4	0.259	0.093	2936	3698	3564	0	0	0	0	0	0	26.15	26.36	26.68
249	-0.33	-194.6	49.4	-37.9	34	257	0.20	1.02	0.00	0.000	6	0.180	0.037	2996	3017	3564	0	0	0	0	0	0	26.31	26.52	28.83
437	-0.36	-194.6	83.4	-12.1	44	443	0.00	2.08	0.00	0.000	4	0.000	0.028	2995	1558	3564	0	0	0	0	0	0	28.83	26.60	28.83
449	-0.40	-194.6	83.4	-12.1	44	455	0.00	2.25	0.00	0.000	6	0.000	0.054	2996	3002	3564	0	0	0	0	0	0	28.83	26.55	28.83
644	-0.49	-194.6	99.5	-6.7	54	649	0.12	1.10	0.00	0.000	4	0.094	0.058	2923	3700	3564	0	0	0	0	0	0	26.67	26.62	28.83
876	-0.46	-194.6	133.3	-14.7	65	882	0.10	1.05	0.00	0.000	6	0.132	0.034	2959	2980	3565	0	0	0	0	0	0	26.59	26.74	28.83
1071	-0.55	-194.6	145.6	-5.0	75	1076	0.00	1.15	0.00	0.000	4	0.000	0.061	2959	3696	3565	0	0	0	0	0	0	28.83	26.70	28.83
1303	-0.65	-194.6	158.9	-6.2	86	1310	0.15	1.02	0.00	0.000	6	0.069	0.035	2888	2995	3565	0	0	0	0	0	0	26.73	26.80	28.83
1500	-0.72	-194.6	175.0	-8.3	96	1505	0.00	2.03	0.00	0.000	4	0.000	0.028	2888	1567	3565	0	0	0	0	0	0	28.83	26.82	28.83
1552	-0.78	-194.6	178.8	-8.2	98	1558	0.00	2.25	0.00	0.000	6	0.000	0.055	2888	3007	3565	0	0	0	0	0	0	28.83	26.74	28.83
1745	-0.78	-194.6	200.5	-11.2	108	1750	0.00	1.08	0.00	0.000	4	0.000	0.064	2888	3691	3565	0	0	0	0	0	0	28.83	26.75	28.83
1978	-0.78	-194.6	223.3	-9.1	119	1984	0.00	1.00	0.00	0.000	6	0.000	0.034	2888	3003	3564	0	0	0	0	0	0	28.83	26.85	28.83
2172	-0.81	-194.6	238.1	-7.2	129	2178	0.12	1.12	0.00	0.000	4	0.095	0.060	2812	3701	3564	0	0	0	0	0	0	26.86	26.78	28.83
2405	-0.71	-194.6	284.9	-23.7	140	2411	0.17	1.02	0.00	0.000	6	0.158	0.034	2871	3000	3563	0	0	0	0	0	0	26.67	26.86	28.83
2719	-0.72	-194.6	320.7	-9.8	156	2724	0.00	2.03	0.00	0.000	4	0.000	0.028	2872	1567	3561	0	0	0	0	0	0	28.83	26.87	28.83
2823	-0.79	-194.6	330.3	-9.1	161	2828	0.00	2.25	0.00	0.000	6	0.000	0.057	2871	3011	3561	0	0	0	0	0	0	28.83	26.79	28.83
3146	-0.81	-194.6	368.7	-11.8	177	3152	0.00	2.08	0.00	0.000	4	0.000	0.029	2872	1570	3558	0	0	0	0	0	0	28.83	26.89	28.83
3254	-0.87	-194.6	378.4	-8.8	182	3260	0.12	2.25	0.00	0.000	6	0.096	0.060	2806	3008	3558	0	0	0	0	0	0	26.82	26.79	28.83
3573	-0.82	-194.6	428.0	-15.5	198	3579	0.12	1.10	0.00	0.000	4	0.188	0.067	2845	3695	3555	0	0	0	0	0	0	26.72	26.79	28.83
3806	-0.79	-194.6	458.2	-13.9	209	3811	0.00	1.02	0.00	0.000	6	0.000	0.037	2845	3007	3553	0	0	0	0	0	0	28.83	26.89	28.83
4119	-0.79	-194.6	500.8	-14.1	225	4124	0.00	2.05	0.00	0.000	4	0.000	0.031	2845	1569	3552	0	0	0	0	0	0	28.83	26.89	28.83
4182	-0.81	-194.6	508.8	-12.9	228	4187	0.00	2.28	0.00	0.000	6	0.000	0.062	2845	2996	3552	0	0	0	0	0	0	28.83	26.79	28.83
4382	end dive: TARGET_DEPTH_EXCEEDED
state	4383	begin apogee
4387	-0.12	0.0	540.0	-16.2	238	4546	0.65	0.00	149.90	1.106	6	0.132	0.000	3066	2997	2768	0	0	0	0	0	0	26.72	28.83	24.45
4548	end apogee: CONTROL_FINISHED_OK
state	4548	begin climb
4550	0.51	194.6	554.1	0.0	246	4719	0.52	1.23	159.57	1.079	4	0.044	0.063	3293	3698	1974	0	0	0	0	0	0	25.37	25.07	24.40
4811	0.30	194.6	518.4	29.5	259	4817	0.28	1.10	0.00	0.000	6	0.168	0.034	3214	2984	1968	0	0	0	0	0	0	25.77	25.94	28.83
5130	0.21	194.6	463.1	15.9	275	5136	0.12	2.05	0.00	0.000	4	0.181	0.031	3185	1584	1963	0	0	0	0	0	0	26.30	26.42	28.83
5178	0.16	194.6	457.5	14.3	277	5184	0.00	2.28	0.00	0.000	6	0.000	0.058	3185	3005	1962	0	0	0	0	0	0	28.83	26.41	28.83
5497	0.12	194.6	416.8	12.1	293	5502	0.12	1.10	0.00	0.000	4	0.169	0.062	3145	3694	1962	0	0	0	0	0	0	26.48	26.56	28.83
5524	0.08	194.6	414.2	11.9	294	5530	0.00	1.02	0.00	0.000	6	0.000	0.039	3147	3018	1962	0	0	0	0	0	0	28.83	26.63	28.83
5842	0.13	276.0	390.1	7.2	310	5912	0.00	2.28	63.80	1.016	4	0.000	0.032	3147	1579	1642	0	0	0	0	0	0	28.83	25.58	24.88
5946	0.22	367.9	383.1	6.8	315	6029	0.10	2.35	74.00	0.990	6	0.113	0.057	3195	3009	1269	0	0	0	0	0	0	25.79	25.79	24.53
6347	0.22	367.9	331.9	13.0	335	6352	0.00	1.12	0.00	0.000	4	0.000	0.066	3195	3701	1262	0	0	0	0	0	0	28.83	26.28	28.83
6419	0.20	367.9	323.3	13.5	338	6424	0.00	1.08	0.00	0.000	6	0.000	0.036	3199	2990	1263	0	0	0	0	0	0	28.83	26.42	28.83
6732	0.20	369.1	288.3	10.0	354	6738	0.00	2.08	0.00	0.000	4	0.000	0.033	3199	1583	1261	0	0	0	0	0	0	28.83	26.56	28.83
6770	0.20	369.9	286.0	10.0	355	6776	0.00	2.28	0.00	0.000	6	0.000	0.058	3199	3009	1261	0	0	0	0	0	0	28.83	26.53	28.83
7076	0.20	369.9	245.4	12.9	371	7077	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	3009	1261	0	0	0	0	0	0	28.83	28.83	28.83
7256	0.24	419.7	229.0	8.3	380	7299	0.00	0.00	40.92	0.904	6	0.000	0.000	3199	3009	1056	0	0	0	0	0	0	28.83	28.83	25.31
7477	0.28	433.6	209.8	9.5	391	7497	0.00	1.12	11.98	0.822	4	0.000	0.065	3200	3691	1000	0	0	0	0	0	0	28.83	26.08	25.47
7540	0.31	433.6	202.6	11.1	394	7545	0.00	1.05	0.00	0.000	6	0.000	0.037	3199	3005	999	0	0	0	0	0	0	28.83	26.25	28.83
7744	0.40	483.3	184.4	8.3	404	7788	0.12	0.00	41.53	0.856	6	0.093	0.000	3272	3004	798	0	0	0	0	0	0	26.46	28.83	25.16
7963	0.37	483.3	146.2	18.2	415	7965	0.15	0.00	0.00	0.000	6	0.149	0.000	3229	3004	795	0	0	0	0	0	0	26.12	28.83	28.83
8143	0.46	510.8	125.9	9.1	424	8172	0.00	2.15	23.20	0.791	4	0.000	0.031	3229	1577	685	0	0	0	0	0	0	28.83	26.05	25.43
8210	0.62	594.6	121.7	7.1	427	8267	0.25	2.30	48.42	0.790	6	0.106	0.051	3315	3013	460	0	0	0	0	0	0	26.07	26.10	24.95
8445	0.79	594.6	94.9	12.3	439	8447	0.15	0.00	0.00	0.000	6	0.110	0.000	3369	3013	459	0	0	0	0	0	0	26.13	28.83	28.83
8625	0.96	594.6	74.3	10.6	448	8631	0.12	2.12	0.00	0.000	4	0.090	0.027	3452	1561	459	0	0	0	0	0	0	26.39	26.39	28.83
8658	1.10	594.6	72.0	10.5	449	8664	0.00	2.30	0.00	0.000	6	0.000	0.055	3452	3005	458	0	0	0	0	0	0	28.83	26.35	28.83
8847	0.94	594.6	4.8	40.9	469	8854	0.12	0.00	0.00	0.000	6	0.184	0.000	3415	3007	459	0	0	0	0	0	0	26.37	28.83	28.83
8859	end climb: SURFACE_DEPTH_REACHED
state	8859	begin surface coast
8866	end surface coast: CONTROL_FINISHED_OK
state	8866	begin surface