Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 150 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 150 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_SURF 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 970 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 60 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 41 XPDR_VALID 2

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 400 XPDR_INHIBIT 90

D_BOOST 20 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 3 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 415 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3400 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2380 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 370 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0035000001 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -20695.324 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -9 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 154 MINV_24V 22 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3952 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 225 C_PITCH 2835 FG_AHR_10V 0 SEABIRD_T_G 0.0043708701

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064764963

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.5888983e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -74.53199 SEABIRD_T_J 2.7074855e-06

RHO 1.0275 PITCH_GAIN 25 PRESSURE_SLOPE 0.0001165165 SEABIRD_C_G -10.475479

MASS 52107 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.2050543

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015894541

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021379974

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 181 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 9.9999997e-06 ROLL_MAX 3676 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 175 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 970 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 25 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3952 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MIN 154 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0035000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001165165 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.003 PRESSURE_YINT -74.53199 T_BOOST 3

CALL_TRIES 5 HD_B 0.0099999998 PROTOCOL 9 T_DIVE 370

CALL_WAIT 60 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -20695.324

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 171 RELAUNCH 1 T_MISSION 400

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2835 LOGGERDEVICE1 53 ROLL_AD_RATE 400 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2380 LOGGERDEVICE4 -1 ROLL_MAX 3676 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -9

DEEPGLIDER 0 MASS 52107 ROLL_MIN 181 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 225 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 60 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 41 VBD_DBAND 2

DEVICE3 -1 MISSION 4 SC_PROFILE 3.0 VBD_MAX 3400

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 415

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.475479 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 150 N_DIVES 0 SEABIRD_C_H 1.2050543 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1010 N_FILEKB 8 SEABIRD_C_I -0.0015894541 VBD_TIMEOUT 720

D_BOOST 20 N_GPS 20 SEABIRD_C_J 0.00021379974 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0043708701 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064764963 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_T_I 2.5888983e-05 XPDR_VALID 2

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.7074855e-06

Pre-dive calculations and measurements:

GPS1 200313,024813,2148.368,12400.381,10,1.6,11,-2.9 TGT_NAME N3

_CALLS 1 TGT_LATLONG 2130.000,12400.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,025343,2148.362,12400.484,16,1.6,16,-2.9 MHEAD_RNG_PITCHd_Wd 211.4,34017,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 5366

Post-dive calculations and measurements:

FINISH 0.4,1.013661 _10V_AH 10.3,16.656

SM_CCo 9821,83.15,0.059,0,0,747,400.08 FG_AHR_24Vo 0.000

SM_GC 1.17,7.95,0.75,83.15,0.035,0.051,0.059,139,2492,747,-8.33,-1.19,400.08,0,0,0,0,0,0,26.70,26.65,26.51 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2143.45,12359.43,200313,000020 MEM 329660

TT8_MAMPS 0.047936,0.047936 DATA_FILE_SIZE 16803,458

HUMID 44.05 CAP_FILE_SIZE 251950,0

INTERNAL_PRESSURE 9.61321 CFSIZE 260034560,237391872

TCM_TEMP 23.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.141,171.2,1

SC_FREEKB 3972576 GPS 200313,054030,2146.260,12359.354,37,1.9,38,-2.9

_24V_AH 24.3,22.496

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 220 105.60 nil 0 0 0.00

Roll_motor 77 55 104.49 nil 0 0 0.00

VBD_pump_during_apogee 567 882 12152.90 nil 0 0 0.00

VBD_pump_during_surface 83 58 119.02 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 9807 3 932.75

Iridium_during_xfer 190 124 576.32 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 27 5.16

TT8 1972 35 730.07

LPSleep 5864 2 132.29

TT8_Active 706 35 261.64

TT8_Sampling 1449 58 872.19

TT8_CF8 237 65 161.38

TT8_Kalman 0 0 0.00

Analog_circuits 1619 15 250.16

GPS_charging 0 0 0.00

Compass 1183 5 73.01

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.25 -219.0 132 2489 829 665 0.0 0.0 0 81 0.00 0.00 -61.42 0.000 16386 0.000 0.000 132 2489 2466 2541 2391 0 0 0 0 0 0 28.83 28.83 28.83

84 -1.25 -219.0 131 2489 2546 2391 3.3 -6.0 8 116 8.80 2.05 -14.93 0.000 18948 0.220 0.042 2424 1099 3274 3343 3206 0 0 0 0 0 0 25.95 26.36 26.65

145 -1.25 -219.0 1456 1098 3327 3201 25.3 -33.7 17 154 0.00 2.15 0.00 0.000 1030 0.000 0.041 2414 2487 3276 3347 3206 0 0 0 0 0 0 28.83 26.32 28.83

462 -1.25 -219.0 2414 2487 3350 3206 131.2 -32.3 37 469 0.00 1.83 0.00 0.000 260 0.000 0.052 2405 3674 3278 3350 3206 0 0 0 0 0 0 28.83 26.46 28.83

658 -1.25 -219.0 2404 3674 3354 3207 191.7 -32.8 46 664 0.00 1.70 0.00 0.000 1030 0.000 0.024 2405 2483 3278 3350 3207 0 0 0 0 0 0 28.83 26.61 28.83

972 -1.25 -219.0 2405 2482 3355 3208 292.1 -30.4 62 973 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2482 3281 3355 3207 0 0 0 0 0 0 28.83 28.83 28.83

1272 -1.25 -219.0 2404 2482 3355 3207 374.0 -26.5 77 1279 0.10 1.85 0.00 0.000 2308 0.182 0.050 2420 3676 3281 3356 3207 0 0 0 0 0 0 26.54 26.60 28.83

1377 -1.25 -219.0 2420 3676 3355 3207 401.3 -25.7 82 1383 0.00 1.67 0.00 0.000 1030 0.000 0.024 2420 2497 3279 3352 3207 0 0 0 0 0 0 28.83 26.72 28.83

1703 -1.25 -219.0 2420 2495 3357 3207 479.4 -23.3 98 1709 0.00 1.83 0.00 0.000 260 0.000 0.052 2411 3673 3282 3357 3207 0 0 0 0 0 0 28.83 26.63 28.83

1732 -1.25 -219.0 2411 3673 3357 3207 485.5 -23.4 99 1737 0.00 1.67 0.00 0.000 1030 0.000 0.025 2411 2491 3282 3357 3207 0 0 0 0 0 0 28.83 26.74 28.83

2052 -1.25 -219.0 2411 2489 3357 3207 558.9 -22.4 115 2058 0.00 1.83 0.00 0.000 260 0.000 0.053 2402 3673 3282 3357 3207 0 0 0 0 0 0 28.83 26.64 28.83

2118 -1.25 -219.0 2400 3673 3357 3207 574.7 -23.5 118 2125 0.08 1.70 0.00 0.000 3078 0.135 0.025 2429 2498 3282 3357 3207 0 0 0 0 0 0 26.53 26.77 28.83

2443 -1.25 -219.0 2428 2498 3357 3207 636.8 -18.1 131 2445 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2497 3282 3357 3207 0 0 0 0 0 0 28.83 28.83 28.83

2743 -1.25 -219.0 2428 2497 3357 3207 689.9 -17.9 141 2749 0.00 1.83 0.00 0.000 260 0.000 0.054 2420 3673 3282 3357 3207 0 0 0 0 0 0 28.83 26.65 28.83

2843 -1.25 -219.0 2420 3673 3357 3206 707.2 -18.3 144 2849 0.00 1.67 0.00 0.000 1030 0.000 0.026 2420 2493 3281 3357 3206 0 0 0 0 0 0 28.83 26.78 28.83

3172 -1.25 -219.0 2420 2492 3357 3202 766.5 -17.7 155 3173 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2492 3279 3357 3202 0 0 0 0 0 0 28.83 28.83 28.83

3473 -1.25 -219.0 2420 2491 3356 3198 820.5 -18.2 165 3478 0.00 1.85 0.00 0.000 260 0.000 0.055 2411 3677 3277 3356 3198 0 0 0 0 0 0 28.83 26.65 28.83

3573 -1.25 -219.0 2411 3677 3356 3197 837.6 -18.0 168 3579 0.00 1.67 0.00 0.000 1030 0.000 0.028 2411 2504 3276 3356 3197 0 0 0 0 0 0 28.83 26.78 28.83

3901 -1.25 -219.0 2411 2502 3356 3192 895.2 -16.5 179 3908 0.00 2.05 0.00 0.000 516 0.000 0.031 2411 1108 3274 3356 3192 0 0 0 0 0 0 28.83 26.72 28.83

3936 -1.25 -219.0 2411 1108 3356 3191 901.0 -16.5 180 3943 0.12 2.12 0.00 0.000 3078 0.164 0.041 2434 2502 3273 3356 3191 0 0 0 0 0 0 26.49 26.65 28.83

4271 -1.25 -219.0 2434 2502 3359 3186 952.8 -15.3 191 4277 0.00 1.83 0.00 0.000 260 0.000 0.056 2426 3676 3271 3356 3186 0 0 0 0 0 0 28.83 26.63 28.83

4305 -1.25 -219.0 2425 3676 3355 3185 958.0 -15.4 192 4312 0.00 1.70 0.00 0.000 1030 0.000 0.028 2426 2499 3270 3356 3185 0 0 0 0 0 0 28.83 26.78 28.83

4398 end dive: TARGET_DEPTH_EXCEEDED

state 4399 begin apogee

4404 -0.20 0.0 2425 1993 3355 3185 972.8 -15.5 195 4743 1.00 0.00 330.75 0.748 10246 0.112 0.000 2766 1991 2379 2540 2219 0 0 0 0 0 0 26.48 28.83 24.53

4745 end apogee: CONTROL_FINISHED_OK

state 4745 begin climb

4747 1.25 219.0 2765 1991 2532 2210 988.8 0.0 205 4994 1.27 2.40 236.25 0.882 11012 0.043 0.047 3248 3413 1478 1575 1381 0 0 0 0 0 0 25.25 24.91 24.30

5063 1.25 219.0 3248 3412 1559 1370 941.0 24.4 216 5069 0.00 2.15 0.00 0.000 1030 0.000 0.028 3260 2021 1464 1559 1369 0 0 0 0 0 0 28.83 25.52 28.83

5381 1.25 219.0 3259 2020 1551 1360 853.6 26.2 227 5388 0.00 2.20 0.00 0.000 516 0.000 0.039 3270 596 1455 1551 1360 0 0 0 0 0 0 28.83 26.15 28.83

5430 1.25 219.0 3270 596 1551 1360 844.3 26.1 228 5437 0.12 2.15 0.00 0.000 5126 0.172 0.032 3239 2014 1455 1551 1359 0 0 0 0 0 0 26.02 26.21 28.83

5750 1.25 219.0 3239 2014 1549 1357 765.0 23.4 239 5751 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 2014 1453 1549 1357 0 0 0 0 0 0 28.83 28.83 28.83

6051 1.25 219.0 3239 2014 1547 1356 694.4 23.2 249 6052 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 2014 1451 1547 1356 0 0 0 0 0 0 28.83 28.83 28.83

6350 1.25 219.0 3239 2014 1547 1355 629.8 21.7 259 6352 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 2014 1451 1547 1355 0 0 0 0 0 0 28.83 28.83 28.83

6660 1.25 219.0 3239 2014 1546 1353 561.8 20.8 272 6666 0.00 2.17 0.00 0.000 516 0.000 0.041 3251 594 1449 1546 1353 0 0 0 0 0 0 28.83 26.56 28.83

6693 1.25 219.0 3250 594 1547 1353 556.7 20.9 273 6699 0.00 2.10 0.00 0.000 1030 0.000 0.032 3251 2002 1449 1546 1353 0 0 0 0 0 0 28.83 26.60 28.83

7007 1.25 219.0 3250 2002 1545 1351 493.2 20.2 289 7013 0.00 2.17 0.00 0.000 260 0.000 0.047 3251 3408 1448 1545 1351 0 0 0 0 0 0 28.83 26.59 28.83

7128 1.25 219.0 3250 3408 1544 1350 470.9 21.2 294 7136 0.00 2.10 0.00 0.000 1030 0.000 0.030 3262 1994 1447 1544 1350 0 0 0 0 0 0 28.83 26.65 28.83

7434 1.25 219.0 3262 1994 1542 1348 407.9 19.6 310 7440 0.00 2.10 0.00 0.000 516 0.000 0.041 3273 607 1445 1543 1348 0 0 0 0 0 0 28.83 26.61 28.83

7586 1.25 219.0 3276 605 1542 1348 376.3 21.9 317 7593 0.12 2.08 0.00 0.000 5126 0.168 0.031 3240 2007 1445 1542 1348 0 0 0 0 0 0 26.44 26.65 28.83

7907 1.25 219.0 3239 2007 1542 1349 313.7 18.6 333 7914 0.00 2.15 0.00 0.000 260 0.000 0.046 3239 3400 1445 1542 1348 0 0 0 0 0 0 28.83 26.62 28.83

8013 1.25 219.0 2240 3399 1512 1344 292.5 19.7 338 8020 0.00 2.08 0.00 0.000 1030 0.000 0.030 3251 1996 1445 1543 1348 0 0 0 0 0 0 28.83 26.67 28.83

8339 1.25 219.0 3251 1996 1542 1348 233.1 18.2 354 8345 0.00 2.10 0.00 0.000 516 0.000 0.039 3262 606 1445 1543 1348 0 0 0 0 0 0 28.83 26.64 28.83

8418 1.25 219.0 2304 606 1513 1345 220.6 18.5 357 8426 0.00 2.08 0.00 0.000 1030 0.000 0.031 3262 2006 1445 1542 1348 0 0 0 0 0 0 28.83 26.67 28.83

8725 1.25 219.0 3262 2006 1542 1348 165.1 17.7 373 8731 0.00 2.12 0.00 0.000 516 0.000 0.039 3273 604 1445 1542 1348 0 0 0 0 0 0 28.83 26.65 28.83

8835 1.25 219.0 3273 604 1542 1348 148.0 16.2 378 8841 0.15 2.05 0.00 0.000 5126 0.155 0.031 3232 2002 1445 1542 1348 0 0 0 0 0 0 26.46 26.68 28.83

9156 1.25 219.0 3231 2001 1542 1348 97.4 15.9 394 9162 0.00 2.15 0.00 0.000 260 0.000 0.045 3232 3406 1445 1543 1348 0 0 0 0 0 0 28.83 26.65 28.83

9232 1.25 219.0 3231 3406 1544 1348 85.6 17.0 397 9238 0.00 2.08 0.00 0.000 1030 0.000 0.029 3243 1993 1445 1543 1348 0 0 0 0 0 0 28.83 26.70 28.83

9547 1.25 219.0 3243 1993 1545 1348 34.0 14.7 418 9552 0.00 2.08 0.00 0.000 516 0.000 0.039 3254 606 1446 1545 1348 0 0 0 0 0 0 28.83 26.66 28.83

9635 1.25 219.0 3254 606 1545 1347 23.2 12.2 427 9643 0.00 2.05 0.00 0.000 1030 0.000 0.030 3254 2007 1447 1546 1348 0 0 0 0 0 0 28.83 26.69 28.83

9785 end climb: SURFACE_DEPTH_REACHED

state 9786 begin surface coast

9803 end surface coast: CONTROL_FINISHED_OK

state 9803 begin surface

ID	171	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	150	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_SURF	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	970	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	60	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	41	XPDR_VALID	2
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	400	XPDR_INHIBIT	90
D_BOOST	20	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	3	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	415	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3400	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2380	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	370	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0035000001	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-20695.324	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-9	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	154	MINV_24V	22	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3952	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	225	C_PITCH	2835	FG_AHR_10V	0	SEABIRD_T_G	0.0043708701
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064764963
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.5888983e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-74.53199	SEABIRD_T_J	2.7074855e-06
RHO	1.0275	PITCH_GAIN	25	PRESSURE_SLOPE	0.0001165165	SEABIRD_C_G	-10.475479
MASS	52107	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.2050543
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015894541
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021379974
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	181	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	9.9999997e-06	ROLL_MAX	3676	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	200313,024813,2148.368,12400.381,10,1.6,11,-2.9	TGT_NAME	N3
_CALLS	1	TGT_LATLONG	2130.000,12400.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,025343,2148.362,12400.484,16,1.6,16,-2.9	MHEAD_RNG_PITCHd_Wd	211.4,34017,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	5366

FINISH	0.4,1.013661	_10V_AH	10.3,16.656
SM_CCo	9821,83.15,0.059,0,0,747,400.08	FG_AHR_24Vo	0.000
SM_GC	1.17,7.95,0.75,83.15,0.035,0.051,0.059,139,2492,747,-8.33,-1.19,400.08,0,0,0,0,0,0,26.70,26.65,26.51	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2143.45,12359.43,200313,000020	MEM	329660
TT8_MAMPS	0.047936,0.047936	DATA_FILE_SIZE	16803,458
HUMID	44.05	CAP_FILE_SIZE	251950,0
INTERNAL_PRESSURE	9.61321	CFSIZE	260034560,237391872
TCM_TEMP	23.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.141,171.2,1
SC_FREEKB	3972576	GPS	200313,054030,2146.260,12359.354,37,1.9,38,-2.9
_24V_AH	24.3,22.496

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	220	105.60	nil	0	0	0.00
Roll_motor	77	55	104.49	nil	0	0	0.00
VBD_pump_during_apogee	567	882	12152.90	nil	0	0	0.00
VBD_pump_during_surface	83	58	119.02	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	9807	3	932.75
Iridium_during_xfer	190	124	576.32	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	27	5.16
TT8	1972	35	730.07
LPSleep	5864	2	132.29
TT8_Active	706	35	261.64
TT8_Sampling	1449	58	872.19
TT8_CF8	237	65	161.38
TT8_Kalman	0	0	0.00
Analog_circuits	1619	15	250.16
GPS_charging	0	0	0.00
Compass	1183	5	73.01
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.25	-219.0	132	2489	829	665	0.0	0.0	0	81	0.00	0.00	-61.42	0.000	16386	0.000	0.000	132	2489	2466	2541	2391	0	0	0	0	0	0	28.83	28.83	28.83
84	-1.25	-219.0	131	2489	2546	2391	3.3	-6.0	8	116	8.80	2.05	-14.93	0.000	18948	0.220	0.042	2424	1099	3274	3343	3206	0	0	0	0	0	0	25.95	26.36	26.65
145	-1.25	-219.0	1456	1098	3327	3201	25.3	-33.7	17	154	0.00	2.15	0.00	0.000	1030	0.000	0.041	2414	2487	3276	3347	3206	0	0	0	0	0	0	28.83	26.32	28.83
462	-1.25	-219.0	2414	2487	3350	3206	131.2	-32.3	37	469	0.00	1.83	0.00	0.000	260	0.000	0.052	2405	3674	3278	3350	3206	0	0	0	0	0	0	28.83	26.46	28.83
658	-1.25	-219.0	2404	3674	3354	3207	191.7	-32.8	46	664	0.00	1.70	0.00	0.000	1030	0.000	0.024	2405	2483	3278	3350	3207	0	0	0	0	0	0	28.83	26.61	28.83
972	-1.25	-219.0	2405	2482	3355	3208	292.1	-30.4	62	973	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2482	3281	3355	3207	0	0	0	0	0	0	28.83	28.83	28.83
1272	-1.25	-219.0	2404	2482	3355	3207	374.0	-26.5	77	1279	0.10	1.85	0.00	0.000	2308	0.182	0.050	2420	3676	3281	3356	3207	0	0	0	0	0	0	26.54	26.60	28.83
1377	-1.25	-219.0	2420	3676	3355	3207	401.3	-25.7	82	1383	0.00	1.67	0.00	0.000	1030	0.000	0.024	2420	2497	3279	3352	3207	0	0	0	0	0	0	28.83	26.72	28.83
1703	-1.25	-219.0	2420	2495	3357	3207	479.4	-23.3	98	1709	0.00	1.83	0.00	0.000	260	0.000	0.052	2411	3673	3282	3357	3207	0	0	0	0	0	0	28.83	26.63	28.83
1732	-1.25	-219.0	2411	3673	3357	3207	485.5	-23.4	99	1737	0.00	1.67	0.00	0.000	1030	0.000	0.025	2411	2491	3282	3357	3207	0	0	0	0	0	0	28.83	26.74	28.83
2052	-1.25	-219.0	2411	2489	3357	3207	558.9	-22.4	115	2058	0.00	1.83	0.00	0.000	260	0.000	0.053	2402	3673	3282	3357	3207	0	0	0	0	0	0	28.83	26.64	28.83
2118	-1.25	-219.0	2400	3673	3357	3207	574.7	-23.5	118	2125	0.08	1.70	0.00	0.000	3078	0.135	0.025	2429	2498	3282	3357	3207	0	0	0	0	0	0	26.53	26.77	28.83
2443	-1.25	-219.0	2428	2498	3357	3207	636.8	-18.1	131	2445	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	2497	3282	3357	3207	0	0	0	0	0	0	28.83	28.83	28.83
2743	-1.25	-219.0	2428	2497	3357	3207	689.9	-17.9	141	2749	0.00	1.83	0.00	0.000	260	0.000	0.054	2420	3673	3282	3357	3207	0	0	0	0	0	0	28.83	26.65	28.83
2843	-1.25	-219.0	2420	3673	3357	3206	707.2	-18.3	144	2849	0.00	1.67	0.00	0.000	1030	0.000	0.026	2420	2493	3281	3357	3206	0	0	0	0	0	0	28.83	26.78	28.83
3172	-1.25	-219.0	2420	2492	3357	3202	766.5	-17.7	155	3173	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2492	3279	3357	3202	0	0	0	0	0	0	28.83	28.83	28.83
3473	-1.25	-219.0	2420	2491	3356	3198	820.5	-18.2	165	3478	0.00	1.85	0.00	0.000	260	0.000	0.055	2411	3677	3277	3356	3198	0	0	0	0	0	0	28.83	26.65	28.83
3573	-1.25	-219.0	2411	3677	3356	3197	837.6	-18.0	168	3579	0.00	1.67	0.00	0.000	1030	0.000	0.028	2411	2504	3276	3356	3197	0	0	0	0	0	0	28.83	26.78	28.83
3901	-1.25	-219.0	2411	2502	3356	3192	895.2	-16.5	179	3908	0.00	2.05	0.00	0.000	516	0.000	0.031	2411	1108	3274	3356	3192	0	0	0	0	0	0	28.83	26.72	28.83
3936	-1.25	-219.0	2411	1108	3356	3191	901.0	-16.5	180	3943	0.12	2.12	0.00	0.000	3078	0.164	0.041	2434	2502	3273	3356	3191	0	0	0	0	0	0	26.49	26.65	28.83
4271	-1.25	-219.0	2434	2502	3359	3186	952.8	-15.3	191	4277	0.00	1.83	0.00	0.000	260	0.000	0.056	2426	3676	3271	3356	3186	0	0	0	0	0	0	28.83	26.63	28.83
4305	-1.25	-219.0	2425	3676	3355	3185	958.0	-15.4	192	4312	0.00	1.70	0.00	0.000	1030	0.000	0.028	2426	2499	3270	3356	3185	0	0	0	0	0	0	28.83	26.78	28.83
4398	end dive: TARGET_DEPTH_EXCEEDED
state	4399	begin apogee
4404	-0.20	0.0	2425	1993	3355	3185	972.8	-15.5	195	4743	1.00	0.00	330.75	0.748	10246	0.112	0.000	2766	1991	2379	2540	2219	0	0	0	0	0	0	26.48	28.83	24.53
4745	end apogee: CONTROL_FINISHED_OK
state	4745	begin climb
4747	1.25	219.0	2765	1991	2532	2210	988.8	0.0	205	4994	1.27	2.40	236.25	0.882	11012	0.043	0.047	3248	3413	1478	1575	1381	0	0	0	0	0	0	25.25	24.91	24.30
5063	1.25	219.0	3248	3412	1559	1370	941.0	24.4	216	5069	0.00	2.15	0.00	0.000	1030	0.000	0.028	3260	2021	1464	1559	1369	0	0	0	0	0	0	28.83	25.52	28.83
5381	1.25	219.0	3259	2020	1551	1360	853.6	26.2	227	5388	0.00	2.20	0.00	0.000	516	0.000	0.039	3270	596	1455	1551	1360	0	0	0	0	0	0	28.83	26.15	28.83
5430	1.25	219.0	3270	596	1551	1360	844.3	26.1	228	5437	0.12	2.15	0.00	0.000	5126	0.172	0.032	3239	2014	1455	1551	1359	0	0	0	0	0	0	26.02	26.21	28.83
5750	1.25	219.0	3239	2014	1549	1357	765.0	23.4	239	5751	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	2014	1453	1549	1357	0	0	0	0	0	0	28.83	28.83	28.83
6051	1.25	219.0	3239	2014	1547	1356	694.4	23.2	249	6052	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	2014	1451	1547	1356	0	0	0	0	0	0	28.83	28.83	28.83
6350	1.25	219.0	3239	2014	1547	1355	629.8	21.7	259	6352	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	2014	1451	1547	1355	0	0	0	0	0	0	28.83	28.83	28.83
6660	1.25	219.0	3239	2014	1546	1353	561.8	20.8	272	6666	0.00	2.17	0.00	0.000	516	0.000	0.041	3251	594	1449	1546	1353	0	0	0	0	0	0	28.83	26.56	28.83
6693	1.25	219.0	3250	594	1547	1353	556.7	20.9	273	6699	0.00	2.10	0.00	0.000	1030	0.000	0.032	3251	2002	1449	1546	1353	0	0	0	0	0	0	28.83	26.60	28.83
7007	1.25	219.0	3250	2002	1545	1351	493.2	20.2	289	7013	0.00	2.17	0.00	0.000	260	0.000	0.047	3251	3408	1448	1545	1351	0	0	0	0	0	0	28.83	26.59	28.83
7128	1.25	219.0	3250	3408	1544	1350	470.9	21.2	294	7136	0.00	2.10	0.00	0.000	1030	0.000	0.030	3262	1994	1447	1544	1350	0	0	0	0	0	0	28.83	26.65	28.83
7434	1.25	219.0	3262	1994	1542	1348	407.9	19.6	310	7440	0.00	2.10	0.00	0.000	516	0.000	0.041	3273	607	1445	1543	1348	0	0	0	0	0	0	28.83	26.61	28.83
7586	1.25	219.0	3276	605	1542	1348	376.3	21.9	317	7593	0.12	2.08	0.00	0.000	5126	0.168	0.031	3240	2007	1445	1542	1348	0	0	0	0	0	0	26.44	26.65	28.83
7907	1.25	219.0	3239	2007	1542	1349	313.7	18.6	333	7914	0.00	2.15	0.00	0.000	260	0.000	0.046	3239	3400	1445	1542	1348	0	0	0	0	0	0	28.83	26.62	28.83
8013	1.25	219.0	2240	3399	1512	1344	292.5	19.7	338	8020	0.00	2.08	0.00	0.000	1030	0.000	0.030	3251	1996	1445	1543	1348	0	0	0	0	0	0	28.83	26.67	28.83
8339	1.25	219.0	3251	1996	1542	1348	233.1	18.2	354	8345	0.00	2.10	0.00	0.000	516	0.000	0.039	3262	606	1445	1543	1348	0	0	0	0	0	0	28.83	26.64	28.83
8418	1.25	219.0	2304	606	1513	1345	220.6	18.5	357	8426	0.00	2.08	0.00	0.000	1030	0.000	0.031	3262	2006	1445	1542	1348	0	0	0	0	0	0	28.83	26.67	28.83
8725	1.25	219.0	3262	2006	1542	1348	165.1	17.7	373	8731	0.00	2.12	0.00	0.000	516	0.000	0.039	3273	604	1445	1542	1348	0	0	0	0	0	0	28.83	26.65	28.83
8835	1.25	219.0	3273	604	1542	1348	148.0	16.2	378	8841	0.15	2.05	0.00	0.000	5126	0.155	0.031	3232	2002	1445	1542	1348	0	0	0	0	0	0	26.46	26.68	28.83
9156	1.25	219.0	3231	2001	1542	1348	97.4	15.9	394	9162	0.00	2.15	0.00	0.000	260	0.000	0.045	3232	3406	1445	1543	1348	0	0	0	0	0	0	28.83	26.65	28.83
9232	1.25	219.0	3231	3406	1544	1348	85.6	17.0	397	9238	0.00	2.08	0.00	0.000	1030	0.000	0.029	3243	1993	1445	1543	1348	0	0	0	0	0	0	28.83	26.70	28.83
9547	1.25	219.0	3243	1993	1545	1348	34.0	14.7	418	9552	0.00	2.08	0.00	0.000	516	0.000	0.039	3254	606	1446	1545	1348	0	0	0	0	0	0	28.83	26.66	28.83
9635	1.25	219.0	3254	606	1545	1347	23.2	12.2	427	9643	0.00	2.05	0.00	0.000	1030	0.000	0.030	3254	2007	1447	1546	1348	0	0	0	0	0	0	28.83	26.69	28.83
9785	end climb: SURFACE_DEPTH_REACHED
state	9786	begin surface coast
9803	end surface coast: CONTROL_FINISHED_OK
state	9803	begin surface