Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 60 * 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 400

DIVE 60 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2325 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2300 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 50 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 50 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 3 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 -968565.25 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 0.015 ALTIM_BOTTOM_TURN_MARGIN 25 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 0.015 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 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 400 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 -968565.25

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 2300 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2325 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 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 50 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 60 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 3

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 231012,194005,2305.648,12132.299,36,1.2,36,-3.5 TGT_NAME N2

_CALLS 3 TGT_LATLONG 2350.000,12355.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231012,194957,2305.896,12132.269,4,1.1,5,-3.5 MHEAD_RNG_PITCHd_Wd 106.8,255220,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 1225

Post-dive calculations and measurements:

FINISH 1.1,1.022130 _10V_AH 9.8,9.937

SM_CCo 10219,0.00,0.000,0,0,988,485.69 FG_AHR_24Vo 0.000

SM_GC 1.63,7.40,0.00,0.00,0.029,0.000,0.000,115,2300,988,-8.11,-0.71,485.69,0,0,0,0,0,0,26.48,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2255.72,12139.21,231012,191918 MEM 323824

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 20088,570

HUMID 55.67 CAP_FILE_SIZE 133668,0

INTERNAL_PRESSURE 9.46325 CFSIZE 260165632,244670464

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

XPDR_PINGS 5 CURRENT 0.287, 15.7,1

ALTIM_BOTTOM_PING 551.7,7.8 GPS 231012,224205,2306.946,12134.242,38,0.9,38,-3.5

_24V_AH 24.2,18.121

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 228 112.65 nil 0 0 0.00

Roll_motor 88 53 114.59 nil 0 0 0.00

VBD_pump_during_apogee 511 986 12201.28 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 10161 15 3822.70

Iridium_during_xfer 317 123 951.77 nil 0 0 0.00

Transponder_ping 2 420 25.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.51

TT8 1780 14 256.61

LPSleep 6511 2 139.74

TT8_Active 552 14 79.68

TT8_Sampling 1728 37 642.45

TT8_CF8 247 44 108.15

TT8_Kalman 0 0 0.00

Analog_circuits 1665 16 261.16

GPS_charging 0 0 0.00

Compass 1348 8 108.88

RAFOS 0 0 0.00

Transponder 16 30 4.96

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 85 0.00 0.00 -64.12 0.000 2 0.000 0.000 104 2316 2558 0 0 0 0 0 0 28.83 28.83 28.83

88 -0.47 -195.5 3.3 -6.3 11 132 9.75 2.15 -26.70 0.000 4 0.229 0.047 2579 916 3767 0 0 0 0 0 0 25.69 26.20 26.41

296 -0.50 -195.5 32.5 -13.2 45 301 0.00 2.10 0.00 0.000 6 0.000 0.035 2579 2312 3769 0 0 0 0 0 0 28.83 26.28 28.83

619 -0.52 -195.5 78.0 -13.0 67 620 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2312 3769 0 0 0 0 0 0 28.83 28.83 28.83

921 -0.59 -195.5 110.2 -10.4 82 927 0.00 2.17 0.00 0.000 4 0.000 0.050 2579 3729 3770 0 0 0 0 0 0 28.83 26.40 28.83

1021 -0.71 -195.5 115.7 -6.5 86 1028 0.20 2.03 0.00 0.000 6 0.055 0.020 2465 2297 3770 0 0 0 0 0 0 26.58 26.62 28.83

1325 -0.66 -195.5 165.0 -15.3 102 1331 0.17 2.25 0.00 0.000 4 0.135 0.048 2520 3735 3770 0 0 0 0 0 0 26.39 26.45 28.83

1373 -0.66 -195.5 170.1 -13.6 104 1378 0.00 2.00 0.00 0.000 6 0.000 0.021 2519 2327 3770 0 0 0 0 0 0 28.83 26.65 28.83

1692 -0.71 -195.5 199.1 -9.0 120 1697 0.00 2.17 0.00 0.000 4 0.000 0.048 2519 3729 3770 0 0 0 0 0 0 28.83 26.48 28.83

1750 -0.78 -195.5 203.3 -9.3 122 1757 0.00 2.00 0.00 0.000 6 0.000 0.021 2519 2324 3770 0 0 0 0 0 0 28.83 26.67 28.83

2056 -0.85 -195.5 232.8 -9.2 138 2062 0.12 2.17 0.00 0.000 4 0.079 0.047 2433 3729 3769 0 0 0 0 0 0 26.77 26.48 28.83

2090 -0.90 -195.5 235.6 -9.7 139 2095 0.00 2.00 0.00 0.000 6 0.000 0.021 2432 2331 3770 0 0 0 0 0 0 28.83 26.67 28.83

2403 -0.85 -195.5 283.7 -14.5 155 2409 0.12 2.17 0.00 0.000 4 0.158 0.054 2467 3733 3768 0 0 0 0 0 0 26.48 24.97 28.83

2509 -0.85 -195.5 296.8 -12.1 160 2514 0.00 2.03 0.00 0.000 6 0.000 0.021 2467 2323 3767 0 0 0 0 0 0 28.83 26.68 28.83

2832 -0.86 -195.5 333.6 -11.0 176 2837 0.00 2.03 0.00 0.000 4 0.000 0.035 2467 935 3766 0 0 0 0 0 0 28.83 26.58 28.83

2916 -0.90 -195.5 342.7 -10.9 180 2921 0.00 2.08 0.00 0.000 6 0.000 0.037 2467 2324 3766 0 0 0 0 0 0 28.83 26.55 28.83

3240 -0.92 -195.5 377.2 -10.4 196 3245 0.00 2.17 0.00 0.000 4 0.000 0.053 2467 3733 3763 0 0 0 0 0 0 28.83 26.48 28.83

3327 -0.95 -195.5 385.9 -10.4 200 3332 0.00 2.03 0.00 0.000 6 0.000 0.022 2467 2323 3763 0 0 0 0 0 0 28.83 26.67 28.83

3646 -0.99 -195.5 415.4 -8.3 216 3652 0.12 2.03 0.00 0.000 4 0.083 0.030 2389 922 3760 0 0 0 0 0 0 26.77 26.62 28.83

3724 -0.96 -195.5 423.5 -11.4 219 3732 0.15 2.12 0.00 0.000 6 0.150 0.040 2426 2329 3760 0 0 0 0 0 0 26.28 26.53 28.83

4030 -0.94 -195.5 463.2 -12.7 235 4036 0.00 2.17 0.00 0.000 4 0.000 0.050 2426 3749 3755 0 0 0 0 0 0 28.83 26.46 28.83

4123 -0.93 -195.5 474.3 -13.3 239 4129 0.00 2.08 -0.08 0.000 6 0.000 0.022 2426 2323 3780 0 0 0 0 0 0 28.83 26.67 25.51

4437 -0.93 -195.5 515.9 -12.7 255 4438 0.00 0.00 0.00 0.000 6 0.000 0.000 2426 2323 3779 0 0 0 0 0 0 28.83 28.83 28.83

4740 end dive: BOTTOM_OBSTACLE_DETECTED

state 4740 begin apogee

4746 -0.20 0.0 551.7 -11.9 270 4911 0.73 0.00 158.68 0.986 6 0.110 0.000 2671 2320 2965 0 0 0 0 0 0 26.15 28.83 24.31

4913 end apogee: CONTROL_FINISHED_OK

state 4913 begin climb

4915 0.47 195.5 558.8 0.0 278 5084 0.57 2.33 161.12 0.916 4 0.044 0.050 2902 3714 2163 0 0 0 0 0 0 25.20 24.89 24.19

5312 0.38 195.5 525.8 12.7 298 5318 0.17 2.12 0.00 0.000 6 0.148 0.026 2859 2294 2150 0 0 0 0 0 0 25.78 26.01 28.83

5626 0.40 255.0 499.1 8.0 314 5686 0.00 2.40 48.62 0.854 4 0.000 0.051 2859 3716 1917 0 0 0 0 0 0 28.83 25.48 24.83

5773 0.40 255.0 484.8 10.9 321 5779 0.00 2.12 0.00 0.000 6 0.000 0.024 2862 2290 1911 0 0 0 0 0 0 28.83 25.96 28.83

6091 0.40 255.0 450.5 10.4 337 6092 0.00 0.00 0.00 0.000 6 0.000 0.000 2862 2290 1908 0 0 0 0 0 0 28.83 28.83 28.83

6393 0.41 268.8 421.0 9.5 352 6411 0.00 0.00 11.70 0.942 6 0.000 0.000 2862 2290 1861 0 0 0 0 0 0 28.83 28.83 25.44

6712 0.44 315.2 393.2 8.4 368 6760 0.00 2.15 40.42 0.843 4 0.000 0.035 2862 923 1676 0 0 0 0 0 0 28.83 25.67 25.02

6810 0.50 364.1 386.4 8.3 372 6862 0.12 2.12 43.03 0.821 6 0.079 0.029 2932 2315 1476 0 0 0 0 0 0 25.89 25.90 24.72

7176 0.47 364.1 334.9 13.7 391 7182 0.12 2.15 0.00 0.000 4 0.143 0.045 2891 3699 1467 0 0 0 0 0 0 26.07 26.11 28.83

7240 0.47 364.1 326.5 13.2 394 7246 0.00 2.10 0.00 0.000 6 0.000 0.024 2894 2288 1465 0 0 0 0 0 0 28.83 26.28 28.83

7564 0.50 364.1 290.5 11.5 410 7570 0.00 2.05 0.00 0.000 4 0.000 0.035 2894 907 1464 0 0 0 0 0 0 28.83 26.36 28.83

7629 0.54 364.1 282.9 11.7 413 7635 0.00 2.08 0.00 0.000 6 0.000 0.029 2894 2311 1464 0 0 0 0 0 0 28.83 26.41 28.83

7955 0.57 364.1 246.3 10.8 429 7960 0.00 2.12 0.00 0.000 4 0.000 0.046 2894 3697 1463 0 0 0 0 0 0 28.83 26.39 28.83

8028 0.59 364.1 238.6 11.7 432 8034 0.10 2.03 0.00 0.000 6 0.098 0.024 2953 2290 1462 0 0 0 0 0 0 26.46 26.55 28.83

8342 0.55 364.1 193.0 14.0 448 8347 0.12 2.03 0.00 0.000 4 0.145 0.032 2921 908 1462 0 0 0 0 0 0 26.41 26.50 28.83

8360 0.52 364.1 193.0 14.0 448 8367 0.00 2.05 0.00 0.000 6 0.000 0.028 2921 2307 1462 0 0 0 0 0 0 28.83 26.53 28.83

8666 0.54 364.1 160.5 10.5 464 8672 0.00 2.12 0.00 0.000 4 0.000 0.046 2921 3691 1461 0 0 0 0 0 0 28.83 26.46 28.83

8690 0.57 364.1 158.2 10.4 465 8695 0.00 2.00 0.00 0.000 6 0.000 0.023 2921 2300 1461 0 0 0 0 0 0 28.83 26.60 28.83

9014 0.60 364.1 125.4 11.3 481 9020 0.00 2.15 0.00 0.000 4 0.000 0.048 2921 3690 1461 0 0 0 0 0 0 28.83 26.47 28.83

9038 0.64 364.1 122.4 11.6 482 9044 0.00 2.00 0.00 0.000 6 0.000 0.022 2921 2285 1461 0 0 0 0 0 0 28.83 26.65 28.83

9363 0.73 441.4 93.6 7.3 498 9397 0.12 2.20 28.42 0.339 4 0.082 0.041 3005 3698 1167 0 0 0 0 0 0 26.73 26.37 25.89

9435 0.73 441.4 86.0 10.9 501 9441 0.12 2.03 0.00 0.000 6 0.152 0.028 2975 2318 1170 0 0 0 0 0 0 26.22 26.42 28.83

9749 0.77 442.9 52.2 9.9 517 9755 0.00 2.08 1.00 0.216 4 0.000 0.030 2978 897 1162 0 0 0 0 0 0 28.83 26.48 26.03

9835 0.85 486.0 44.7 8.5 524 9861 0.10 2.05 18.30 0.223 6 0.091 0.028 3052 2299 983 0 0 0 0 0 0 26.46 26.50 25.98

10122 end climb: SURFACE_DEPTH_REACHED

state 10122 begin surface coast

10141 end surface coast: CONTROL_FINISHED_OK

state 10141 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	400
DIVE	60	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2325	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2300	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	50	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	50	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	3	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	-968565.25	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	0.015	ALTIM_BOTTOM_TURN_MARGIN	25	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	231012,194005,2305.648,12132.299,36,1.2,36,-3.5	TGT_NAME	N2
_CALLS	3	TGT_LATLONG	2350.000,12355.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231012,194957,2305.896,12132.269,4,1.1,5,-3.5	MHEAD_RNG_PITCHd_Wd	106.8,255220,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	1225

FINISH	1.1,1.022130	_10V_AH	9.8,9.937
SM_CCo	10219,0.00,0.000,0,0,988,485.69	FG_AHR_24Vo	0.000
SM_GC	1.63,7.40,0.00,0.00,0.029,0.000,0.000,115,2300,988,-8.11,-0.71,485.69,0,0,0,0,0,0,26.48,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2255.72,12139.21,231012,191918	MEM	323824
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	20088,570
HUMID	55.67	CAP_FILE_SIZE	133668,0
INTERNAL_PRESSURE	9.46325	CFSIZE	260165632,244670464
TCM_TEMP	25.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	5	CURRENT	0.287, 15.7,1
ALTIM_BOTTOM_PING	551.7,7.8	GPS	231012,224205,2306.946,12134.242,38,0.9,38,-3.5
_24V_AH	24.2,18.121

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	228	112.65	nil	0	0	0.00
Roll_motor	88	53	114.59	nil	0	0	0.00
VBD_pump_during_apogee	511	986	12201.28	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	10161	15	3822.70
Iridium_during_xfer	317	123	951.77	nil	0	0	0.00
Transponder_ping	2	420	25.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.51
TT8	1780	14	256.61
LPSleep	6511	2	139.74
TT8_Active	552	14	79.68
TT8_Sampling	1728	37	642.45
TT8_CF8	247	44	108.15
TT8_Kalman	0	0	0.00
Analog_circuits	1665	16	261.16
GPS_charging	0	0	0.00
Compass	1348	8	108.88
RAFOS	0	0	0.00
Transponder	16	30	4.96

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	85	0.00	0.00	-64.12	0.000	2	0.000	0.000	104	2316	2558	0	0	0	0	0	0	28.83	28.83	28.83
88	-0.47	-195.5	3.3	-6.3	11	132	9.75	2.15	-26.70	0.000	4	0.229	0.047	2579	916	3767	0	0	0	0	0	0	25.69	26.20	26.41
296	-0.50	-195.5	32.5	-13.2	45	301	0.00	2.10	0.00	0.000	6	0.000	0.035	2579	2312	3769	0	0	0	0	0	0	28.83	26.28	28.83
619	-0.52	-195.5	78.0	-13.0	67	620	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2312	3769	0	0	0	0	0	0	28.83	28.83	28.83
921	-0.59	-195.5	110.2	-10.4	82	927	0.00	2.17	0.00	0.000	4	0.000	0.050	2579	3729	3770	0	0	0	0	0	0	28.83	26.40	28.83
1021	-0.71	-195.5	115.7	-6.5	86	1028	0.20	2.03	0.00	0.000	6	0.055	0.020	2465	2297	3770	0	0	0	0	0	0	26.58	26.62	28.83
1325	-0.66	-195.5	165.0	-15.3	102	1331	0.17	2.25	0.00	0.000	4	0.135	0.048	2520	3735	3770	0	0	0	0	0	0	26.39	26.45	28.83
1373	-0.66	-195.5	170.1	-13.6	104	1378	0.00	2.00	0.00	0.000	6	0.000	0.021	2519	2327	3770	0	0	0	0	0	0	28.83	26.65	28.83
1692	-0.71	-195.5	199.1	-9.0	120	1697	0.00	2.17	0.00	0.000	4	0.000	0.048	2519	3729	3770	0	0	0	0	0	0	28.83	26.48	28.83
1750	-0.78	-195.5	203.3	-9.3	122	1757	0.00	2.00	0.00	0.000	6	0.000	0.021	2519	2324	3770	0	0	0	0	0	0	28.83	26.67	28.83
2056	-0.85	-195.5	232.8	-9.2	138	2062	0.12	2.17	0.00	0.000	4	0.079	0.047	2433	3729	3769	0	0	0	0	0	0	26.77	26.48	28.83
2090	-0.90	-195.5	235.6	-9.7	139	2095	0.00	2.00	0.00	0.000	6	0.000	0.021	2432	2331	3770	0	0	0	0	0	0	28.83	26.67	28.83
2403	-0.85	-195.5	283.7	-14.5	155	2409	0.12	2.17	0.00	0.000	4	0.158	0.054	2467	3733	3768	0	0	0	0	0	0	26.48	24.97	28.83
2509	-0.85	-195.5	296.8	-12.1	160	2514	0.00	2.03	0.00	0.000	6	0.000	0.021	2467	2323	3767	0	0	0	0	0	0	28.83	26.68	28.83
2832	-0.86	-195.5	333.6	-11.0	176	2837	0.00	2.03	0.00	0.000	4	0.000	0.035	2467	935	3766	0	0	0	0	0	0	28.83	26.58	28.83
2916	-0.90	-195.5	342.7	-10.9	180	2921	0.00	2.08	0.00	0.000	6	0.000	0.037	2467	2324	3766	0	0	0	0	0	0	28.83	26.55	28.83
3240	-0.92	-195.5	377.2	-10.4	196	3245	0.00	2.17	0.00	0.000	4	0.000	0.053	2467	3733	3763	0	0	0	0	0	0	28.83	26.48	28.83
3327	-0.95	-195.5	385.9	-10.4	200	3332	0.00	2.03	0.00	0.000	6	0.000	0.022	2467	2323	3763	0	0	0	0	0	0	28.83	26.67	28.83
3646	-0.99	-195.5	415.4	-8.3	216	3652	0.12	2.03	0.00	0.000	4	0.083	0.030	2389	922	3760	0	0	0	0	0	0	26.77	26.62	28.83
3724	-0.96	-195.5	423.5	-11.4	219	3732	0.15	2.12	0.00	0.000	6	0.150	0.040	2426	2329	3760	0	0	0	0	0	0	26.28	26.53	28.83
4030	-0.94	-195.5	463.2	-12.7	235	4036	0.00	2.17	0.00	0.000	4	0.000	0.050	2426	3749	3755	0	0	0	0	0	0	28.83	26.46	28.83
4123	-0.93	-195.5	474.3	-13.3	239	4129	0.00	2.08	-0.08	0.000	6	0.000	0.022	2426	2323	3780	0	0	0	0	0	0	28.83	26.67	25.51
4437	-0.93	-195.5	515.9	-12.7	255	4438	0.00	0.00	0.00	0.000	6	0.000	0.000	2426	2323	3779	0	0	0	0	0	0	28.83	28.83	28.83
4740	end dive: BOTTOM_OBSTACLE_DETECTED
state	4740	begin apogee
4746	-0.20	0.0	551.7	-11.9	270	4911	0.73	0.00	158.68	0.986	6	0.110	0.000	2671	2320	2965	0	0	0	0	0	0	26.15	28.83	24.31
4913	end apogee: CONTROL_FINISHED_OK
state	4913	begin climb
4915	0.47	195.5	558.8	0.0	278	5084	0.57	2.33	161.12	0.916	4	0.044	0.050	2902	3714	2163	0	0	0	0	0	0	25.20	24.89	24.19
5312	0.38	195.5	525.8	12.7	298	5318	0.17	2.12	0.00	0.000	6	0.148	0.026	2859	2294	2150	0	0	0	0	0	0	25.78	26.01	28.83
5626	0.40	255.0	499.1	8.0	314	5686	0.00	2.40	48.62	0.854	4	0.000	0.051	2859	3716	1917	0	0	0	0	0	0	28.83	25.48	24.83
5773	0.40	255.0	484.8	10.9	321	5779	0.00	2.12	0.00	0.000	6	0.000	0.024	2862	2290	1911	0	0	0	0	0	0	28.83	25.96	28.83
6091	0.40	255.0	450.5	10.4	337	6092	0.00	0.00	0.00	0.000	6	0.000	0.000	2862	2290	1908	0	0	0	0	0	0	28.83	28.83	28.83
6393	0.41	268.8	421.0	9.5	352	6411	0.00	0.00	11.70	0.942	6	0.000	0.000	2862	2290	1861	0	0	0	0	0	0	28.83	28.83	25.44
6712	0.44	315.2	393.2	8.4	368	6760	0.00	2.15	40.42	0.843	4	0.000	0.035	2862	923	1676	0	0	0	0	0	0	28.83	25.67	25.02
6810	0.50	364.1	386.4	8.3	372	6862	0.12	2.12	43.03	0.821	6	0.079	0.029	2932	2315	1476	0	0	0	0	0	0	25.89	25.90	24.72
7176	0.47	364.1	334.9	13.7	391	7182	0.12	2.15	0.00	0.000	4	0.143	0.045	2891	3699	1467	0	0	0	0	0	0	26.07	26.11	28.83
7240	0.47	364.1	326.5	13.2	394	7246	0.00	2.10	0.00	0.000	6	0.000	0.024	2894	2288	1465	0	0	0	0	0	0	28.83	26.28	28.83
7564	0.50	364.1	290.5	11.5	410	7570	0.00	2.05	0.00	0.000	4	0.000	0.035	2894	907	1464	0	0	0	0	0	0	28.83	26.36	28.83
7629	0.54	364.1	282.9	11.7	413	7635	0.00	2.08	0.00	0.000	6	0.000	0.029	2894	2311	1464	0	0	0	0	0	0	28.83	26.41	28.83
7955	0.57	364.1	246.3	10.8	429	7960	0.00	2.12	0.00	0.000	4	0.000	0.046	2894	3697	1463	0	0	0	0	0	0	28.83	26.39	28.83
8028	0.59	364.1	238.6	11.7	432	8034	0.10	2.03	0.00	0.000	6	0.098	0.024	2953	2290	1462	0	0	0	0	0	0	26.46	26.55	28.83
8342	0.55	364.1	193.0	14.0	448	8347	0.12	2.03	0.00	0.000	4	0.145	0.032	2921	908	1462	0	0	0	0	0	0	26.41	26.50	28.83
8360	0.52	364.1	193.0	14.0	448	8367	0.00	2.05	0.00	0.000	6	0.000	0.028	2921	2307	1462	0	0	0	0	0	0	28.83	26.53	28.83
8666	0.54	364.1	160.5	10.5	464	8672	0.00	2.12	0.00	0.000	4	0.000	0.046	2921	3691	1461	0	0	0	0	0	0	28.83	26.46	28.83
8690	0.57	364.1	158.2	10.4	465	8695	0.00	2.00	0.00	0.000	6	0.000	0.023	2921	2300	1461	0	0	0	0	0	0	28.83	26.60	28.83
9014	0.60	364.1	125.4	11.3	481	9020	0.00	2.15	0.00	0.000	4	0.000	0.048	2921	3690	1461	0	0	0	0	0	0	28.83	26.47	28.83
9038	0.64	364.1	122.4	11.6	482	9044	0.00	2.00	0.00	0.000	6	0.000	0.022	2921	2285	1461	0	0	0	0	0	0	28.83	26.65	28.83
9363	0.73	441.4	93.6	7.3	498	9397	0.12	2.20	28.42	0.339	4	0.082	0.041	3005	3698	1167	0	0	0	0	0	0	26.73	26.37	25.89
9435	0.73	441.4	86.0	10.9	501	9441	0.12	2.03	0.00	0.000	6	0.152	0.028	2975	2318	1170	0	0	0	0	0	0	26.22	26.42	28.83
9749	0.77	442.9	52.2	9.9	517	9755	0.00	2.08	1.00	0.216	4	0.000	0.030	2978	897	1162	0	0	0	0	0	0	28.83	26.48	26.03
9835	0.85	486.0	44.7	8.5	524	9861	0.10	2.05	18.30	0.223	6	0.091	0.028	3052	2299	983	0	0	0	0	0	0	26.46	26.50	25.98
10122	end climb: SURFACE_DEPTH_REACHED
state	10122	begin surface coast
10141	end surface coast: CONTROL_FINISHED_OK
state	10141	begin surface