Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 65 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MAX 3764 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 16 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 65 ESCAPE_HEADING 0 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 3300 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1010 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 71 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 550 R_STBD_OVSHOOT 46 XPDR_VALID 0

D_BOOST 120 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 4 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 460 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2763 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 220 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 235 CALL_WAIT 60 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 5 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -7 T_GPS_CHARGE -974936.44 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 150 MINV_24V 22 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3944 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3085 FG_AHR_10V 0 SEABIRD_T_G 0.0043557216

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062581268

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PHONE_SUPPLY -2 SEABIRD_T_I 2.3904395e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -15.330984 SEABIRD_T_J 2.614597e-06

MASS 52152 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001158971 SEABIRD_C_G -10.14994

MASS_COMP 0 PITCH_TIMEOUT 19 AD7714Ch0Gain 128 SEABIRD_C_H 1.1477706

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0022030354

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00024289287

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 187 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_T_J 2.614597e-06

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 550

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 660 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 27 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.003 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.0001158971 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -15.330984 T_BOOST 4

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 1 T_DIVE 220

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -974936.44

COMPASS2_DEVICE -1 ID 167 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 235

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_RSLEEP 2

C_PITCH 3085 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 3300 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 1900 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2763 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3764 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52152 ROLL_MAXERRORS 2 USE_BATHY -7

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 187 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_PORT_OVSHOOT 71 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 46 VBD_DBAND 2

DEVICE4 -1 MISSION 16 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 460

DIVE 65 NOCOMM_ACTION 163 SEABIRD_C_G -10.14994 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1010 N_DIVES 0 SEABIRD_C_H 1.1477706 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 4 SEABIRD_C_I -0.0022030354 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00024289287 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0043557216 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062581268 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_I 2.3904395e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 280613,034124,2151.891,12028.770,3,1.1,3,-3.1 TGT_NAME T3

_CALLS 1 TGT_LATLONG 2151.500,12030.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280613,034509,2151.843,12028.708,6,1.1,6,-3.1 MHEAD_RNG_PITCHd_Wd 64.1,2309,-27.8,-10.000,-30.00,969

SPEED_LIMITS 0.173,0.296 D_GRID 904

Post-dive calculations and measurements:

FINISH 0.8,1.008525 _10V_AH 10.4,5.279

SM_CCo 8535,137.52,0.123,0,0,516,550.21 FG_AHR_24Vo 0.000

SM_GC 1.60,8.77,1.98,137.52,0.031,0.018,0.123,137,1908,516,-9.15,2.43,550.21,0,0,0,0,0,0,26.61,26.67,26.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12026.75,280613,030336 MEM 324216

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 16780,467

HUMID 56.41 CAP_FILE_SIZE 121268,0

INTERNAL_PRESSURE 9.53162 CFSIZE 260034560,245186560

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

XPDR_PINGS 4 CURRENT 0.142,331.9,1

SC_FREEKB 7691232 GPS 280613,061135,2152.732,12028.787,40,0.9,40,-3.1

_24V_AH 24.6,7.022

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 226 118.37 nil 0 0 0.00

Roll_motor 61 45 69.95 nil 0 0 0.00

VBD_pump_during_apogee 227 1012 5665.43 nil 0 0 0.00

VBD_pump_during_surface 137 123 416.68 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 8463 8 1764.41

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 10.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 50 3.78

TT8 1729 13 251.08

LPSleep 4890 2 111.39

TT8_Active 486 13 70.59

TT8_Sampling 1369 40 572.12

TT8_CF8 270 47 134.11

TT8_Kalman 0 0 0.00

Analog_circuits 1206 16 200.79

GPS_charging 0 0 0.00

Compass 1347 5 70.07

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.22 -63.1 118 1923 430 599 0.0 0.0 0 132 0.00 0.00 -102.85 0.000 16390 0.000 0.000 113 1920 3022 2998 3046 0 0 0 0 0 0 28.83 28.83 26.88

140 -1.32 -96.8 112 1920 2998 3046 3.5 -6.4 18 161 9.57 2.08 -2.50 0.000 18948 0.226 0.041 2662 495 3160 3145 3176 0 0 0 0 0 0 26.36 26.60 26.80

226 -1.32 -96.8 2662 494 3146 3176 38.5 -37.1 29 233 0.00 2.00 0.00 0.000 1030 0.000 0.018 2654 1936 3161 3146 3176 0 0 0 0 0 0 28.83 26.65 28.83

543 -1.32 -96.8 2654 1936 3147 3176 116.0 -20.0 47 548 0.00 1.90 0.00 0.000 260 0.000 0.027 2644 3292 3161 3147 3176 0 0 0 0 0 0 28.83 26.71 28.83

601 -1.32 -96.8 2643 3291 3147 3176 124.7 -19.0 49 608 0.00 1.92 0.00 0.000 1030 0.000 0.015 2644 1886 3161 3147 3176 0 0 0 0 0 0 28.83 26.74 28.83

907 -1.32 -96.8 2643 1886 3147 3176 181.9 -15.4 65 913 0.00 1.92 0.00 0.000 516 0.000 0.029 2644 524 3161 3147 3176 0 0 0 0 0 0 28.83 26.73 28.83

1043 -1.32 -96.8 2644 524 3147 3176 200.3 -15.1 71 1048 0.00 1.90 0.00 0.000 1030 0.000 0.018 2635 1906 3160 3147 3174 0 0 0 0 0 0 28.83 26.78 28.83

1357 -1.32 -96.8 2634 1906 3147 3171 257.2 -19.6 87 1363 0.00 1.95 0.00 0.000 260 0.000 0.028 2624 3287 3159 3147 3171 0 0 0 0 0 0 28.83 26.76 28.83

1396 -1.32 -96.8 2625 3287 3147 3170 262.2 -19.9 88 1404 0.15 1.92 0.00 0.000 3078 0.189 0.016 2660 1881 3158 3147 3170 0 0 0 0 0 0 26.60 26.79 28.83

1702 -1.32 -96.8 2660 1881 3147 3164 322.9 -17.3 104 1707 0.00 2.03 0.00 0.000 260 0.000 0.028 2652 3287 3155 3147 3164 0 0 0 0 0 0 28.83 26.76 28.83

1832 -1.32 -96.8 2652 3287 3147 3162 346.1 -18.6 110 1838 0.00 1.92 0.00 0.000 1030 0.000 0.017 2652 1898 3154 3147 3161 0 0 0 0 0 0 28.83 26.79 28.83

2153 -1.32 -96.8 2652 1898 3147 3155 396.4 -14.0 126 2158 0.00 2.00 0.00 0.000 260 0.000 0.029 2643 3281 3150 3147 3154 0 0 0 0 0 0 28.83 26.77 28.83

2389 -1.32 -96.8 2642 3281 3147 3150 427.5 -12.8 137 2395 0.00 1.92 -0.08 0.000 17414 0.000 0.017 2643 1892 3171 3170 3172 0 0 0 0 0 0 28.83 26.80 26.54

2705 -1.32 -96.8 2641 1891 3172 3166 475.1 -15.6 153 2711 0.00 2.03 0.00 0.000 260 0.000 0.030 2633 3281 3168 3171 3166 0 0 0 0 0 0 28.83 26.77 28.83

2822 -1.32 -96.8 2633 3281 3172 3163 491.7 -15.8 158 2827 0.00 1.95 0.00 0.000 1030 0.000 0.017 2633 1887 3167 3172 3163 0 0 0 0 0 0 28.83 26.80 28.83

3136 -1.32 -96.8 2633 1887 3171 3157 540.7 -13.8 174 3142 0.00 1.95 0.00 0.000 516 0.000 0.030 2633 523 3165 3173 3157 0 0 0 0 0 0 28.83 26.77 28.83

3235 -1.32 -96.8 2634 523 3171 3155 552.7 -14.1 178 3243 0.15 1.92 0.00 0.000 3078 0.192 0.018 2661 1897 3163 3172 3154 0 0 0 0 0 0 26.62 26.79 28.83

3541 -1.32 -96.8 2661 1898 3171 3149 595.4 -12.7 194 3546 0.00 2.03 0.00 0.000 260 0.000 0.032 2656 3296 3160 3171 3149 0 0 0 0 0 0 28.83 26.76 28.83

3615 -1.32 -96.8 2656 3296 3172 3147 603.9 -13.0 197 3621 0.00 1.95 0.00 0.000 1030 0.000 0.017 2656 1887 3159 3171 3147 0 0 0 0 0 0 28.83 26.80 28.83

3943 -1.32 -96.8 2656 1887 3172 3141 653.9 -14.6 208 3949 0.00 2.05 0.00 0.000 260 0.000 0.031 2647 3288 3156 3171 3141 0 0 0 0 0 0 28.83 26.76 28.83

4005 end dive: TARGET_DEPTH_EXCEEDED

state 4005 begin apogee

4013 -0.19 0.0 2646 3289 3172 3140 663.4 -14.1 210 4097 1.17 0.00 79.15 1.012 10246 0.157 0.000 3016 3288 2759 2813 2706 0 0 0 0 0 0 26.61 28.83 24.82

4100 end apogee: CONTROL_FINISHED_OK

state 4100 begin climb

4106 1.32 96.8 3015 3288 2810 2694 664.4 0.0 213 4192 1.30 0.70 80.15 0.960 10500 0.047 0.044 3512 3735 2364 2431 2297 0 0 0 0 0 0 25.64 25.27 24.62

4425 1.32 96.8 3512 3735 2427 2266 603.7 23.7 223 4430 0.00 0.57 0.00 0.000 1030 0.000 0.031 3515 3318 2346 2427 2266 0 0 0 0 0 0 28.83 26.29 28.83

4740 1.32 96.8 3515 3317 2427 2260 530.5 21.6 239 4745 0.00 0.62 0.00 0.000 260 0.000 0.046 3515 3732 2343 2427 2259 0 0 0 0 0 0 28.83 26.50 28.83

4976 1.32 96.8 3515 3732 2426 2257 479.2 22.4 250 4981 0.00 0.60 0.00 0.000 1030 0.000 0.031 3519 3293 2341 2426 2257 0 0 0 0 0 0 28.83 26.61 28.83

5291 1.32 96.8 3518 3292 2426 2253 406.3 21.5 266 5296 0.00 0.65 0.00 0.000 260 0.000 0.046 3518 3727 2340 2427 2253 0 0 0 0 0 0 28.83 26.64 28.83

5529 1.32 96.8 3518 3727 2426 2253 361.5 19.3 277 5534 0.00 0.57 0.00 0.000 1030 0.000 0.032 3522 3300 2339 2427 2252 0 0 0 0 0 0 28.83 26.70 28.83

5844 1.32 96.8 3522 3299 2426 2248 305.6 15.7 293 5850 0.00 0.65 0.00 0.000 260 0.000 0.045 3522 3733 2337 2426 2248 0 0 0 0 0 0 28.83 26.69 28.83

6081 1.32 96.8 3522 3733 2419 2250 268.8 16.5 304 6086 0.00 0.57 0.00 0.000 1030 0.000 0.031 3525 3304 2334 2419 2250 0 0 0 0 0 0 28.83 26.74 28.83

6395 1.32 96.8 3525 3304 2419 2249 212.1 16.8 320 6400 0.00 2.00 0.00 0.000 516 0.000 0.023 3536 1887 2333 2419 2248 0 0 0 0 0 0 28.83 26.74 28.83

6632 1.32 96.8 3535 1887 2419 2246 180.3 11.6 331 6637 0.00 2.05 0.00 0.000 1030 0.000 0.033 3536 3278 2332 2419 2246 0 0 0 0 0 0 28.83 26.72 28.83

6947 1.32 96.8 3535 3278 2419 2246 141.8 10.3 347 6952 0.00 2.00 0.00 0.000 516 0.000 0.021 3546 1871 2332 2419 2245 0 0 0 0 0 0 28.83 26.75 28.83

7035 1.40 124.5 2688 1870 2335 2229 135.7 7.1 351 7060 0.00 2.10 19.52 0.667 9222 0.000 0.031 3546 3304 2254 2334 2175 0 0 0 0 0 0 28.83 26.73 25.90

7375 1.40 124.5 3546 3304 2319 2150 94.1 10.6 368 7380 0.00 2.03 0.00 0.000 516 0.000 0.021 3556 1881 2234 2319 2150 0 0 0 0 0 0 28.83 26.63 28.83

7566 1.53 167.4 3556 1881 2319 2148 80.3 5.4 377 7590 0.00 2.10 17.70 0.275 9222 0.000 0.031 3557 3311 2079 2161 1997 0 0 0 0 0 0 28.83 26.63 26.22

7905 1.63 198.2 3556 3311 2160 2006 52.8 6.7 394 7926 0.12 2.03 13.25 0.239 10756 0.084 0.018 3629 1878 1953 2037 1870 0 0 0 0 0 0 26.66 26.59 26.32

8003 1.63 198.2 3629 1878 2037 1879 43.5 11.7 401 8008 0.00 2.10 0.00 0.000 1030 0.000 0.029 3630 3313 1958 2037 1879 0 0 0 0 0 0 28.83 26.59 28.83

8318 1.75 238.9 3629 3312 2037 1879 24.8 5.7 432 8343 0.00 0.65 17.77 0.177 8964 0.000 0.045 3630 3760 1785 1871 1700 0 0 0 0 0 0 28.83 26.58 26.40

8486 1.75 238.9 3629 3760 1871 1710 5.1 22.1 463 8492 0.00 0.62 0.00 0.000 1030 0.000 0.026 3633 3280 1790 1871 1710 0 0 0 0 0 0 28.83 26.68 28.83

8498 end climb: SURFACE_DEPTH_REACHED

state 8498 begin surface coast

8510 end surface coast: CONTROL_FINISHED_OK

state 8510 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MAX	3764	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	16	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	65	ESCAPE_HEADING	0	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	3300	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1010	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	71	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	550	R_STBD_OVSHOOT	46	XPDR_VALID	0
D_BOOST	120	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	4	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	460	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2763	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	220	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	235	CALL_WAIT	60	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	5	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-7	T_GPS_CHARGE	-974936.44	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	150	MINV_24V	22	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3944	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3085	FG_AHR_10V	0	SEABIRD_T_G	0.0043557216
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062581268
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PHONE_SUPPLY	-2	SEABIRD_T_I	2.3904395e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-15.330984	SEABIRD_T_J	2.614597e-06
MASS	52152	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001158971	SEABIRD_C_G	-10.14994
MASS_COMP	0	PITCH_TIMEOUT	19	AD7714Ch0Gain	128	SEABIRD_C_H	1.1477706
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0022030354
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00024289287
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	187	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	280613,034124,2151.891,12028.770,3,1.1,3,-3.1	TGT_NAME	T3
_CALLS	1	TGT_LATLONG	2151.500,12030.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280613,034509,2151.843,12028.708,6,1.1,6,-3.1	MHEAD_RNG_PITCHd_Wd	64.1,2309,-27.8,-10.000,-30.00,969
SPEED_LIMITS	0.173,0.296	D_GRID	904

FINISH	0.8,1.008525	_10V_AH	10.4,5.279
SM_CCo	8535,137.52,0.123,0,0,516,550.21	FG_AHR_24Vo	0.000
SM_GC	1.60,8.77,1.98,137.52,0.031,0.018,0.123,137,1908,516,-9.15,2.43,550.21,0,0,0,0,0,0,26.61,26.67,26.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12026.75,280613,030336	MEM	324216
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	16780,467
HUMID	56.41	CAP_FILE_SIZE	121268,0
INTERNAL_PRESSURE	9.53162	CFSIZE	260034560,245186560
TCM_TEMP	25.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	4	CURRENT	0.142,331.9,1
SC_FREEKB	7691232	GPS	280613,061135,2152.732,12028.787,40,0.9,40,-3.1
_24V_AH	24.6,7.022

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	226	118.37	nil	0	0	0.00
Roll_motor	61	45	69.95	nil	0	0	0.00
VBD_pump_during_apogee	227	1012	5665.43	nil	0	0	0.00
VBD_pump_during_surface	137	123	416.68	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	8463	8	1764.41
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	10.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	50	3.78
TT8	1729	13	251.08
LPSleep	4890	2	111.39
TT8_Active	486	13	70.59
TT8_Sampling	1369	40	572.12
TT8_CF8	270	47	134.11
TT8_Kalman	0	0	0.00
Analog_circuits	1206	16	200.79
GPS_charging	0	0	0.00
Compass	1347	5	70.07
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.22	-63.1	118	1923	430	599	0.0	0.0	0	132	0.00	0.00	-102.85	0.000	16390	0.000	0.000	113	1920	3022	2998	3046	0	0	0	0	0	0	28.83	28.83	26.88
140	-1.32	-96.8	112	1920	2998	3046	3.5	-6.4	18	161	9.57	2.08	-2.50	0.000	18948	0.226	0.041	2662	495	3160	3145	3176	0	0	0	0	0	0	26.36	26.60	26.80
226	-1.32	-96.8	2662	494	3146	3176	38.5	-37.1	29	233	0.00	2.00	0.00	0.000	1030	0.000	0.018	2654	1936	3161	3146	3176	0	0	0	0	0	0	28.83	26.65	28.83
543	-1.32	-96.8	2654	1936	3147	3176	116.0	-20.0	47	548	0.00	1.90	0.00	0.000	260	0.000	0.027	2644	3292	3161	3147	3176	0	0	0	0	0	0	28.83	26.71	28.83
601	-1.32	-96.8	2643	3291	3147	3176	124.7	-19.0	49	608	0.00	1.92	0.00	0.000	1030	0.000	0.015	2644	1886	3161	3147	3176	0	0	0	0	0	0	28.83	26.74	28.83
907	-1.32	-96.8	2643	1886	3147	3176	181.9	-15.4	65	913	0.00	1.92	0.00	0.000	516	0.000	0.029	2644	524	3161	3147	3176	0	0	0	0	0	0	28.83	26.73	28.83
1043	-1.32	-96.8	2644	524	3147	3176	200.3	-15.1	71	1048	0.00	1.90	0.00	0.000	1030	0.000	0.018	2635	1906	3160	3147	3174	0	0	0	0	0	0	28.83	26.78	28.83
1357	-1.32	-96.8	2634	1906	3147	3171	257.2	-19.6	87	1363	0.00	1.95	0.00	0.000	260	0.000	0.028	2624	3287	3159	3147	3171	0	0	0	0	0	0	28.83	26.76	28.83
1396	-1.32	-96.8	2625	3287	3147	3170	262.2	-19.9	88	1404	0.15	1.92	0.00	0.000	3078	0.189	0.016	2660	1881	3158	3147	3170	0	0	0	0	0	0	26.60	26.79	28.83
1702	-1.32	-96.8	2660	1881	3147	3164	322.9	-17.3	104	1707	0.00	2.03	0.00	0.000	260	0.000	0.028	2652	3287	3155	3147	3164	0	0	0	0	0	0	28.83	26.76	28.83
1832	-1.32	-96.8	2652	3287	3147	3162	346.1	-18.6	110	1838	0.00	1.92	0.00	0.000	1030	0.000	0.017	2652	1898	3154	3147	3161	0	0	0	0	0	0	28.83	26.79	28.83
2153	-1.32	-96.8	2652	1898	3147	3155	396.4	-14.0	126	2158	0.00	2.00	0.00	0.000	260	0.000	0.029	2643	3281	3150	3147	3154	0	0	0	0	0	0	28.83	26.77	28.83
2389	-1.32	-96.8	2642	3281	3147	3150	427.5	-12.8	137	2395	0.00	1.92	-0.08	0.000	17414	0.000	0.017	2643	1892	3171	3170	3172	0	0	0	0	0	0	28.83	26.80	26.54
2705	-1.32	-96.8	2641	1891	3172	3166	475.1	-15.6	153	2711	0.00	2.03	0.00	0.000	260	0.000	0.030	2633	3281	3168	3171	3166	0	0	0	0	0	0	28.83	26.77	28.83
2822	-1.32	-96.8	2633	3281	3172	3163	491.7	-15.8	158	2827	0.00	1.95	0.00	0.000	1030	0.000	0.017	2633	1887	3167	3172	3163	0	0	0	0	0	0	28.83	26.80	28.83
3136	-1.32	-96.8	2633	1887	3171	3157	540.7	-13.8	174	3142	0.00	1.95	0.00	0.000	516	0.000	0.030	2633	523	3165	3173	3157	0	0	0	0	0	0	28.83	26.77	28.83
3235	-1.32	-96.8	2634	523	3171	3155	552.7	-14.1	178	3243	0.15	1.92	0.00	0.000	3078	0.192	0.018	2661	1897	3163	3172	3154	0	0	0	0	0	0	26.62	26.79	28.83
3541	-1.32	-96.8	2661	1898	3171	3149	595.4	-12.7	194	3546	0.00	2.03	0.00	0.000	260	0.000	0.032	2656	3296	3160	3171	3149	0	0	0	0	0	0	28.83	26.76	28.83
3615	-1.32	-96.8	2656	3296	3172	3147	603.9	-13.0	197	3621	0.00	1.95	0.00	0.000	1030	0.000	0.017	2656	1887	3159	3171	3147	0	0	0	0	0	0	28.83	26.80	28.83
3943	-1.32	-96.8	2656	1887	3172	3141	653.9	-14.6	208	3949	0.00	2.05	0.00	0.000	260	0.000	0.031	2647	3288	3156	3171	3141	0	0	0	0	0	0	28.83	26.76	28.83
4005	end dive: TARGET_DEPTH_EXCEEDED
state	4005	begin apogee
4013	-0.19	0.0	2646	3289	3172	3140	663.4	-14.1	210	4097	1.17	0.00	79.15	1.012	10246	0.157	0.000	3016	3288	2759	2813	2706	0	0	0	0	0	0	26.61	28.83	24.82
4100	end apogee: CONTROL_FINISHED_OK
state	4100	begin climb
4106	1.32	96.8	3015	3288	2810	2694	664.4	0.0	213	4192	1.30	0.70	80.15	0.960	10500	0.047	0.044	3512	3735	2364	2431	2297	0	0	0	0	0	0	25.64	25.27	24.62
4425	1.32	96.8	3512	3735	2427	2266	603.7	23.7	223	4430	0.00	0.57	0.00	0.000	1030	0.000	0.031	3515	3318	2346	2427	2266	0	0	0	0	0	0	28.83	26.29	28.83
4740	1.32	96.8	3515	3317	2427	2260	530.5	21.6	239	4745	0.00	0.62	0.00	0.000	260	0.000	0.046	3515	3732	2343	2427	2259	0	0	0	0	0	0	28.83	26.50	28.83
4976	1.32	96.8	3515	3732	2426	2257	479.2	22.4	250	4981	0.00	0.60	0.00	0.000	1030	0.000	0.031	3519	3293	2341	2426	2257	0	0	0	0	0	0	28.83	26.61	28.83
5291	1.32	96.8	3518	3292	2426	2253	406.3	21.5	266	5296	0.00	0.65	0.00	0.000	260	0.000	0.046	3518	3727	2340	2427	2253	0	0	0	0	0	0	28.83	26.64	28.83
5529	1.32	96.8	3518	3727	2426	2253	361.5	19.3	277	5534	0.00	0.57	0.00	0.000	1030	0.000	0.032	3522	3300	2339	2427	2252	0	0	0	0	0	0	28.83	26.70	28.83
5844	1.32	96.8	3522	3299	2426	2248	305.6	15.7	293	5850	0.00	0.65	0.00	0.000	260	0.000	0.045	3522	3733	2337	2426	2248	0	0	0	0	0	0	28.83	26.69	28.83
6081	1.32	96.8	3522	3733	2419	2250	268.8	16.5	304	6086	0.00	0.57	0.00	0.000	1030	0.000	0.031	3525	3304	2334	2419	2250	0	0	0	0	0	0	28.83	26.74	28.83
6395	1.32	96.8	3525	3304	2419	2249	212.1	16.8	320	6400	0.00	2.00	0.00	0.000	516	0.000	0.023	3536	1887	2333	2419	2248	0	0	0	0	0	0	28.83	26.74	28.83
6632	1.32	96.8	3535	1887	2419	2246	180.3	11.6	331	6637	0.00	2.05	0.00	0.000	1030	0.000	0.033	3536	3278	2332	2419	2246	0	0	0	0	0	0	28.83	26.72	28.83
6947	1.32	96.8	3535	3278	2419	2246	141.8	10.3	347	6952	0.00	2.00	0.00	0.000	516	0.000	0.021	3546	1871	2332	2419	2245	0	0	0	0	0	0	28.83	26.75	28.83
7035	1.40	124.5	2688	1870	2335	2229	135.7	7.1	351	7060	0.00	2.10	19.52	0.667	9222	0.000	0.031	3546	3304	2254	2334	2175	0	0	0	0	0	0	28.83	26.73	25.90
7375	1.40	124.5	3546	3304	2319	2150	94.1	10.6	368	7380	0.00	2.03	0.00	0.000	516	0.000	0.021	3556	1881	2234	2319	2150	0	0	0	0	0	0	28.83	26.63	28.83
7566	1.53	167.4	3556	1881	2319	2148	80.3	5.4	377	7590	0.00	2.10	17.70	0.275	9222	0.000	0.031	3557	3311	2079	2161	1997	0	0	0	0	0	0	28.83	26.63	26.22
7905	1.63	198.2	3556	3311	2160	2006	52.8	6.7	394	7926	0.12	2.03	13.25	0.239	10756	0.084	0.018	3629	1878	1953	2037	1870	0	0	0	0	0	0	26.66	26.59	26.32
8003	1.63	198.2	3629	1878	2037	1879	43.5	11.7	401	8008	0.00	2.10	0.00	0.000	1030	0.000	0.029	3630	3313	1958	2037	1879	0	0	0	0	0	0	28.83	26.59	28.83
8318	1.75	238.9	3629	3312	2037	1879	24.8	5.7	432	8343	0.00	0.65	17.77	0.177	8964	0.000	0.045	3630	3760	1785	1871	1700	0	0	0	0	0	0	28.83	26.58	26.40
8486	1.75	238.9	3629	3760	1871	1710	5.1	22.1	463	8492	0.00	0.62	0.00	0.000	1030	0.000	0.026	3633	3280	1790	1871	1710	0	0	0	0	0	0	28.83	26.68	28.83
8498	end climb: SURFACE_DEPTH_REACHED
state	8498	begin surface coast
8510	end surface coast: CONTROL_FINISHED_OK
state	8510	begin surface