Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 157 * 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 157 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 51 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 32 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 -20705.758 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 -20705.758

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 51 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 32 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 157 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 200313,225145,2133.469,12359.237,7,7.5,27,-2.8 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 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,225735,2133.494,12359.203,13,1.5,30,-2.8 MHEAD_RNG_PITCHd_Wd 155.7,6616,-12.4,-8.739,-16.84,3609

SPEED_LIMITS 0.151,0.296 D_GRID 4966

Post-dive calculations and measurements:

FINISH 0.7,1.008839 _10V_AH 10.3,17.202

SM_CCo 9616,81.72,0.059,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.44,7.93,0.77,81.72,0.037,0.039,0.059,119,2503,748,-8.33,-1.19,400.08,0,0,0,0,0,0,26.72,26.68,26.51 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2124.90,12400.68,200313,202017 MEM 329716

TT8_MAMPS 0.047936,0.047936 DATA_FILE_SIZE 16780,447

HUMID 44.32 CAP_FILE_SIZE 247684,0

INTERNAL_PRESSURE 9.62297 CFSIZE 260034560,236789760

TCM_TEMP 23.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.065,146.3,1

SC_FREEKB 3970336 GPS 210313,014100,2131.468,12400.134,12,1.7,30,-2.8

_24V_AH 24.2,23.454

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 219 105.60 nil 0 0 0.00

Roll_motor 84 64 131.68 nil 0 0 0.00

VBD_pump_during_apogee 558 900 12171.78 nil 0 0 0.00

VBD_pump_during_surface 81 58 116.50 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 9604 3 882.49

Iridium_during_xfer 194 123 580.77 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 27 9.03

TT8 1891 35 700.11

LPSleep 5804 2 130.94

TT8_Active 697 35 258.20

TT8_Sampling 1424 58 856.94

TT8_CF8 238 65 161.90

TT8_Kalman 0 0 0.00

Analog_circuits 1614 15 249.50

GPS_charging 0 0 0.00

Compass 1142 5 70.52

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 16 begin dive

18 -1.23 -208.4 131 2488 832 665 0.0 0.0 0 81 0.00 0.00 -61.15 0.000 16386 0.000 0.000 131 2487 2482 2549 2416 0 0 0 0 0 0 28.83 28.83 28.83

84 -1.26 -219.0 130 2488 2550 2418 3.1 -4.4 8 116 8.77 1.85 -14.93 0.000 18692 0.220 0.064 2413 3676 3275 3345 3206 0 0 0 0 0 0 25.96 26.31 26.66

185 -1.26 -219.0 2413 3676 3347 3206 38.4 -36.3 21 194 0.00 1.73 0.00 0.000 1030 0.000 0.025 2413 2475 3276 3347 3206 0 0 0 0 0 0 28.83 26.46 28.83

503 -1.26 -219.0 2413 2473 3349 3206 145.1 -34.6 39 508 0.00 1.85 0.00 0.000 260 0.000 0.051 2404 3671 3277 3349 3206 0 0 0 0 0 0 28.83 26.48 28.83

570 -1.26 -219.0 2404 3671 3349 3207 168.6 -35.4 42 576 0.00 1.67 0.00 0.000 1030 0.000 0.025 2404 2496 3277 3349 3206 0 0 0 0 0 0 28.83 26.61 28.83

891 -1.26 -219.0 2404 2496 3350 3206 271.7 -30.2 58 897 0.00 1.83 0.00 0.000 260 0.000 0.051 2395 3673 3279 3351 3207 0 0 0 0 0 0 28.83 26.56 28.83

988 -1.26 -219.0 2395 3673 3351 3206 298.1 -29.9 62 995 0.12 1.67 0.00 0.000 3078 0.164 0.024 2427 2489 3278 3351 3206 0 0 0 0 0 0 26.41 26.68 28.83

1304 -1.26 -219.0 2427 2489 3354 3206 377.3 -22.7 78 1310 0.00 1.83 0.00 0.000 260 0.000 0.052 2419 3673 3279 3353 3206 0 0 0 0 0 0 28.83 26.60 28.83

1359 -1.26 -219.0 2418 3673 3354 3207 388.0 -23.6 80 1364 0.00 1.65 0.00 0.000 1030 0.000 0.024 2418 2502 3280 3354 3206 0 0 0 0 0 0 28.83 26.72 28.83

1672 -1.26 -219.0 2418 2499 3354 3207 463.2 -23.8 96 1678 0.00 2.05 0.00 0.000 516 0.000 0.031 2419 1104 3280 3354 3207 0 0 0 0 0 0 28.83 26.68 28.83

1721 -1.26 -219.0 2418 1104 3354 3206 473.4 -23.1 98 1728 0.00 2.12 0.00 0.000 1030 0.000 0.040 2408 2507 3280 3354 3206 0 0 0 0 0 0 28.83 26.63 28.83

2042 -1.26 -219.0 2407 2507 3354 3206 550.7 -24.6 114 2048 0.00 1.83 0.00 0.000 260 0.000 0.054 2398 3685 3280 3354 3207 0 0 0 0 0 0 28.83 26.63 28.83

2107 -1.26 -219.0 2398 3686 3354 3206 566.8 -24.2 117 2114 0.10 1.67 0.00 0.000 3078 0.164 0.025 2424 2497 3280 3354 3207 0 0 0 0 0 0 26.53 26.75 28.83

2422 -1.26 -219.0 2424 2495 3354 3206 634.1 -20.4 130 2428 0.00 1.83 0.00 0.000 260 0.000 0.053 2416 3674 3280 3354 3207 0 0 0 0 0 0 28.83 26.65 28.83

2486 -1.26 -219.0 2415 3674 3354 3204 646.8 -19.8 132 2492 0.00 1.67 0.00 0.000 1030 0.000 0.025 2416 2496 3281 3356 3206 0 0 0 0 0 0 28.83 26.77 28.83

2820 -1.26 -219.0 2415 2495 3354 3206 710.3 -19.8 143 2826 0.00 2.03 0.00 0.000 516 0.000 0.030 2416 1108 3280 3354 3206 0 0 0 0 0 0 28.83 26.72 28.83

2843 -1.26 -219.0 2415 1108 3354 3206 710.3 -19.8 143 2849 0.00 2.12 0.00 0.000 1030 0.000 0.040 2405 2506 3279 3354 3205 0 0 0 0 0 0 28.83 26.65 28.83

3158 -1.26 -219.0 2405 2506 3354 3203 778.3 -19.8 154 3164 0.00 1.80 0.00 0.000 260 0.000 0.054 2396 3673 3278 3354 3203 0 0 0 0 0 0 28.83 26.65 28.83

3196 -1.26 -219.0 2396 3673 3354 3202 785.5 -20.0 155 3203 0.12 1.67 0.00 0.000 3078 0.152 0.026 2430 2490 3278 3354 3202 0 0 0 0 0 0 26.53 26.78 28.83

3526 -1.26 -219.0 2430 2489 3354 3197 844.7 -17.4 166 3527 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2489 3275 3353 3197 0 0 0 0 0 0 28.83 28.83 28.83

3826 -1.26 -219.0 2429 2489 3354 3192 900.1 -18.4 176 3827 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2489 3273 3354 3192 0 0 0 0 0 0 28.83 28.83 28.83

4126 -1.26 -219.0 2430 2489 3354 3187 953.8 -17.8 186 4133 0.00 1.85 0.00 0.000 260 0.000 0.055 2422 3673 3270 3353 3187 0 0 0 0 0 0 28.83 26.64 28.83

4164 -1.26 -219.0 1480 3672 3335 3182 959.9 -17.6 187 4170 0.00 1.70 0.00 0.000 1030 0.000 0.027 2422 2512 3269 3353 3186 0 0 0 0 0 0 28.83 26.79 28.83

4224 end dive: TARGET_DEPTH_EXCEEDED

state 4224 begin apogee

4229 -0.20 0.0 2421 1994 3352 3185 971.0 -17.5 189 4569 1.00 0.00 328.25 0.760 10246 0.112 0.000 2762 1993 2372 2533 2212 0 0 0 0 0 0 26.48 28.83 24.51

4571 end apogee: CONTROL_FINISHED_OK

state 4571 begin climb

4573 1.26 219.0 2762 1993 2532 2199 991.2 0.0 199 4817 1.30 2.28 230.35 0.900 10756 0.043 0.038 3265 634 1472 1570 1374 0 0 0 0 0 0 25.27 24.89 24.20

4925 1.26 219.0 2320 633 1522 1352 933.9 25.5 210 4931 0.00 2.15 0.00 0.000 1030 0.000 0.031 3265 2018 1453 1552 1355 0 0 0 0 0 0 28.83 25.66 28.83

5244 1.26 219.0 3265 2018 1547 1352 852.4 23.5 221 5250 0.00 2.17 0.00 0.000 260 0.000 0.047 3265 3405 1449 1547 1352 0 0 0 0 0 0 28.83 26.19 28.83

5267 1.26 219.0 3265 3405 1547 1352 852.4 23.5 221 5273 0.12 2.08 0.00 0.000 5126 0.175 0.029 3245 2019 1449 1547 1352 0 0 0 0 0 0 26.06 26.26 28.83

5581 1.26 219.0 3244 2019 1546 1349 780.8 20.7 232 5582 0.00 0.00 0.00 0.000 6 0.000 0.000 3245 2019 1447 1546 1348 0 0 0 0 0 0 28.83 28.83 28.83

5882 1.26 219.0 3245 2019 1544 1346 718.1 21.4 242 5883 0.00 0.00 0.00 0.000 6 0.000 0.000 3245 2019 1446 1545 1347 0 0 0 0 0 0 28.83 28.83 28.83

6182 1.26 219.0 3245 2019 1544 1345 653.2 21.7 252 6187 0.00 2.15 0.00 0.000 516 0.000 0.041 3256 609 1444 1544 1344 0 0 0 0 0 0 28.83 26.53 28.83

6281 1.26 219.0 3256 609 1543 1344 632.0 22.4 255 6287 0.00 2.10 0.00 0.000 1030 0.000 0.032 3256 2011 1444 1543 1345 0 0 0 0 0 0 28.83 26.57 28.83

6590 1.26 219.0 3256 2011 1541 1339 566.0 19.7 268 6596 0.00 2.17 0.00 0.000 260 0.000 0.048 3256 3415 1441 1541 1342 0 0 0 0 0 0 28.83 26.57 28.83

6638 1.26 219.0 3255 3413 1541 1342 556.4 20.8 270 6645 0.00 2.10 0.00 0.000 1030 0.000 0.031 3267 2003 1441 1540 1342 0 0 0 0 0 0 28.83 26.63 28.83

6959 1.26 219.0 3267 2003 1540 1341 485.6 22.7 286 6965 0.00 2.12 0.00 0.000 516 0.000 0.041 3278 606 1440 1539 1341 0 0 0 0 0 0 28.83 26.60 28.83

6977 1.26 219.0 3277 606 1539 1340 485.6 22.7 286 6986 0.12 2.08 0.00 0.000 5126 0.172 0.032 3246 2003 1440 1539 1341 0 0 0 0 0 0 26.41 26.63 28.83

7284 1.26 219.0 3249 2002 1539 1339 411.7 22.5 302 7290 0.00 2.12 0.00 0.000 516 0.000 0.040 3258 606 1439 1538 1340 0 0 0 0 0 0 28.83 26.61 28.83

7372 1.26 219.0 3257 606 1538 1339 392.0 22.6 306 7378 0.00 2.08 0.00 0.000 1030 0.000 0.031 3258 2001 1438 1538 1339 0 0 0 0 0 0 28.83 26.65 28.83

7697 1.26 219.0 3257 2001 1538 1339 325.4 18.9 322 7703 0.00 2.17 0.00 0.000 260 0.000 0.047 3257 3414 1438 1538 1339 0 0 0 0 0 0 28.83 26.62 28.83

7817 1.26 219.0 3257 3414 1538 1339 303.5 20.5 327 7825 0.00 2.10 0.00 0.000 1030 0.000 0.030 3269 1993 1438 1538 1339 0 0 0 0 0 0 28.83 26.67 28.83

8124 1.26 219.0 3268 1993 1538 1338 244.1 17.7 343 8130 0.00 2.10 0.00 0.000 516 0.000 0.040 3279 604 1438 1538 1338 0 0 0 0 0 0 28.83 26.64 28.83

8169 1.26 219.0 3279 604 1538 1338 236.5 17.3 345 8176 0.15 2.08 0.00 0.000 5126 0.158 0.031 3238 2010 1438 1538 1338 0 0 0 0 0 0 26.44 26.67 28.83

8495 1.26 219.0 3238 2010 1538 1339 182.7 17.0 361 8501 0.00 2.15 0.00 0.000 260 0.000 0.047 3238 3409 1438 1538 1338 0 0 0 0 0 0 28.83 26.63 28.83

8554 1.26 219.0 3238 3407 1538 1338 174.9 17.1 363 8562 0.00 2.08 0.00 0.000 1030 0.000 0.030 3250 1996 1438 1538 1338 0 0 0 0 0 0 28.83 26.69 28.83

8861 1.26 219.0 3250 1996 1538 1338 120.1 16.7 379 8867 0.00 2.17 0.00 0.000 260 0.000 0.045 3250 3405 1437 1538 1337 0 0 0 0 0 0 28.83 26.63 28.83

8900 1.26 219.0 3250 3405 1538 1337 115.8 17.1 380 8909 0.00 2.08 0.00 0.000 1030 0.000 0.030 3262 1997 1438 1539 1338 0 0 0 0 0 0 28.83 26.70 28.83

9206 1.26 219.0 3261 1997 1539 1338 61.7 16.7 396 9212 0.00 2.17 0.00 0.000 260 0.000 0.045 3262 3408 1439 1540 1338 0 0 0 0 0 0 28.83 26.64 28.83

9349 1.26 219.0 3262 3408 1540 1338 36.2 18.2 406 9358 0.12 2.08 0.00 0.000 5126 0.162 0.028 3239 1991 1439 1541 1338 0 0 0 0 0 0 26.48 26.70 28.83

9576 end climb: SURFACE_DEPTH_REACHED

state 9576 begin surface coast

9598 end surface coast: CONTROL_FINISHED_OK

state 9598 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	157	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	51	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	32	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	-20705.758	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	200313,225145,2133.469,12359.237,7,7.5,27,-2.8	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	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,225735,2133.494,12359.203,13,1.5,30,-2.8	MHEAD_RNG_PITCHd_Wd	155.7,6616,-12.4,-8.739,-16.84,3609
SPEED_LIMITS	0.151,0.296	D_GRID	4966

FINISH	0.7,1.008839	_10V_AH	10.3,17.202
SM_CCo	9616,81.72,0.059,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.44,7.93,0.77,81.72,0.037,0.039,0.059,119,2503,748,-8.33,-1.19,400.08,0,0,0,0,0,0,26.72,26.68,26.51	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2124.90,12400.68,200313,202017	MEM	329716
TT8_MAMPS	0.047936,0.047936	DATA_FILE_SIZE	16780,447
HUMID	44.32	CAP_FILE_SIZE	247684,0
INTERNAL_PRESSURE	9.62297	CFSIZE	260034560,236789760
TCM_TEMP	23.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.065,146.3,1
SC_FREEKB	3970336	GPS	210313,014100,2131.468,12400.134,12,1.7,30,-2.8
_24V_AH	24.2,23.454

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	219	105.60	nil	0	0	0.00
Roll_motor	84	64	131.68	nil	0	0	0.00
VBD_pump_during_apogee	558	900	12171.78	nil	0	0	0.00
VBD_pump_during_surface	81	58	116.50	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	9604	3	882.49
Iridium_during_xfer	194	123	580.77	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	27	9.03
TT8	1891	35	700.11
LPSleep	5804	2	130.94
TT8_Active	697	35	258.20
TT8_Sampling	1424	58	856.94
TT8_CF8	238	65	161.90
TT8_Kalman	0	0	0.00
Analog_circuits	1614	15	249.50
GPS_charging	0	0	0.00
Compass	1142	5	70.52
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	16	begin dive
18	-1.23	-208.4	131	2488	832	665	0.0	0.0	0	81	0.00	0.00	-61.15	0.000	16386	0.000	0.000	131	2487	2482	2549	2416	0	0	0	0	0	0	28.83	28.83	28.83
84	-1.26	-219.0	130	2488	2550	2418	3.1	-4.4	8	116	8.77	1.85	-14.93	0.000	18692	0.220	0.064	2413	3676	3275	3345	3206	0	0	0	0	0	0	25.96	26.31	26.66
185	-1.26	-219.0	2413	3676	3347	3206	38.4	-36.3	21	194	0.00	1.73	0.00	0.000	1030	0.000	0.025	2413	2475	3276	3347	3206	0	0	0	0	0	0	28.83	26.46	28.83
503	-1.26	-219.0	2413	2473	3349	3206	145.1	-34.6	39	508	0.00	1.85	0.00	0.000	260	0.000	0.051	2404	3671	3277	3349	3206	0	0	0	0	0	0	28.83	26.48	28.83
570	-1.26	-219.0	2404	3671	3349	3207	168.6	-35.4	42	576	0.00	1.67	0.00	0.000	1030	0.000	0.025	2404	2496	3277	3349	3206	0	0	0	0	0	0	28.83	26.61	28.83
891	-1.26	-219.0	2404	2496	3350	3206	271.7	-30.2	58	897	0.00	1.83	0.00	0.000	260	0.000	0.051	2395	3673	3279	3351	3207	0	0	0	0	0	0	28.83	26.56	28.83
988	-1.26	-219.0	2395	3673	3351	3206	298.1	-29.9	62	995	0.12	1.67	0.00	0.000	3078	0.164	0.024	2427	2489	3278	3351	3206	0	0	0	0	0	0	26.41	26.68	28.83
1304	-1.26	-219.0	2427	2489	3354	3206	377.3	-22.7	78	1310	0.00	1.83	0.00	0.000	260	0.000	0.052	2419	3673	3279	3353	3206	0	0	0	0	0	0	28.83	26.60	28.83
1359	-1.26	-219.0	2418	3673	3354	3207	388.0	-23.6	80	1364	0.00	1.65	0.00	0.000	1030	0.000	0.024	2418	2502	3280	3354	3206	0	0	0	0	0	0	28.83	26.72	28.83
1672	-1.26	-219.0	2418	2499	3354	3207	463.2	-23.8	96	1678	0.00	2.05	0.00	0.000	516	0.000	0.031	2419	1104	3280	3354	3207	0	0	0	0	0	0	28.83	26.68	28.83
1721	-1.26	-219.0	2418	1104	3354	3206	473.4	-23.1	98	1728	0.00	2.12	0.00	0.000	1030	0.000	0.040	2408	2507	3280	3354	3206	0	0	0	0	0	0	28.83	26.63	28.83
2042	-1.26	-219.0	2407	2507	3354	3206	550.7	-24.6	114	2048	0.00	1.83	0.00	0.000	260	0.000	0.054	2398	3685	3280	3354	3207	0	0	0	0	0	0	28.83	26.63	28.83
2107	-1.26	-219.0	2398	3686	3354	3206	566.8	-24.2	117	2114	0.10	1.67	0.00	0.000	3078	0.164	0.025	2424	2497	3280	3354	3207	0	0	0	0	0	0	26.53	26.75	28.83
2422	-1.26	-219.0	2424	2495	3354	3206	634.1	-20.4	130	2428	0.00	1.83	0.00	0.000	260	0.000	0.053	2416	3674	3280	3354	3207	0	0	0	0	0	0	28.83	26.65	28.83
2486	-1.26	-219.0	2415	3674	3354	3204	646.8	-19.8	132	2492	0.00	1.67	0.00	0.000	1030	0.000	0.025	2416	2496	3281	3356	3206	0	0	0	0	0	0	28.83	26.77	28.83
2820	-1.26	-219.0	2415	2495	3354	3206	710.3	-19.8	143	2826	0.00	2.03	0.00	0.000	516	0.000	0.030	2416	1108	3280	3354	3206	0	0	0	0	0	0	28.83	26.72	28.83
2843	-1.26	-219.0	2415	1108	3354	3206	710.3	-19.8	143	2849	0.00	2.12	0.00	0.000	1030	0.000	0.040	2405	2506	3279	3354	3205	0	0	0	0	0	0	28.83	26.65	28.83
3158	-1.26	-219.0	2405	2506	3354	3203	778.3	-19.8	154	3164	0.00	1.80	0.00	0.000	260	0.000	0.054	2396	3673	3278	3354	3203	0	0	0	0	0	0	28.83	26.65	28.83
3196	-1.26	-219.0	2396	3673	3354	3202	785.5	-20.0	155	3203	0.12	1.67	0.00	0.000	3078	0.152	0.026	2430	2490	3278	3354	3202	0	0	0	0	0	0	26.53	26.78	28.83
3526	-1.26	-219.0	2430	2489	3354	3197	844.7	-17.4	166	3527	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2489	3275	3353	3197	0	0	0	0	0	0	28.83	28.83	28.83
3826	-1.26	-219.0	2429	2489	3354	3192	900.1	-18.4	176	3827	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2489	3273	3354	3192	0	0	0	0	0	0	28.83	28.83	28.83
4126	-1.26	-219.0	2430	2489	3354	3187	953.8	-17.8	186	4133	0.00	1.85	0.00	0.000	260	0.000	0.055	2422	3673	3270	3353	3187	0	0	0	0	0	0	28.83	26.64	28.83
4164	-1.26	-219.0	1480	3672	3335	3182	959.9	-17.6	187	4170	0.00	1.70	0.00	0.000	1030	0.000	0.027	2422	2512	3269	3353	3186	0	0	0	0	0	0	28.83	26.79	28.83
4224	end dive: TARGET_DEPTH_EXCEEDED
state	4224	begin apogee
4229	-0.20	0.0	2421	1994	3352	3185	971.0	-17.5	189	4569	1.00	0.00	328.25	0.760	10246	0.112	0.000	2762	1993	2372	2533	2212	0	0	0	0	0	0	26.48	28.83	24.51
4571	end apogee: CONTROL_FINISHED_OK
state	4571	begin climb
4573	1.26	219.0	2762	1993	2532	2199	991.2	0.0	199	4817	1.30	2.28	230.35	0.900	10756	0.043	0.038	3265	634	1472	1570	1374	0	0	0	0	0	0	25.27	24.89	24.20
4925	1.26	219.0	2320	633	1522	1352	933.9	25.5	210	4931	0.00	2.15	0.00	0.000	1030	0.000	0.031	3265	2018	1453	1552	1355	0	0	0	0	0	0	28.83	25.66	28.83
5244	1.26	219.0	3265	2018	1547	1352	852.4	23.5	221	5250	0.00	2.17	0.00	0.000	260	0.000	0.047	3265	3405	1449	1547	1352	0	0	0	0	0	0	28.83	26.19	28.83
5267	1.26	219.0	3265	3405	1547	1352	852.4	23.5	221	5273	0.12	2.08	0.00	0.000	5126	0.175	0.029	3245	2019	1449	1547	1352	0	0	0	0	0	0	26.06	26.26	28.83
5581	1.26	219.0	3244	2019	1546	1349	780.8	20.7	232	5582	0.00	0.00	0.00	0.000	6	0.000	0.000	3245	2019	1447	1546	1348	0	0	0	0	0	0	28.83	28.83	28.83
5882	1.26	219.0	3245	2019	1544	1346	718.1	21.4	242	5883	0.00	0.00	0.00	0.000	6	0.000	0.000	3245	2019	1446	1545	1347	0	0	0	0	0	0	28.83	28.83	28.83
6182	1.26	219.0	3245	2019	1544	1345	653.2	21.7	252	6187	0.00	2.15	0.00	0.000	516	0.000	0.041	3256	609	1444	1544	1344	0	0	0	0	0	0	28.83	26.53	28.83
6281	1.26	219.0	3256	609	1543	1344	632.0	22.4	255	6287	0.00	2.10	0.00	0.000	1030	0.000	0.032	3256	2011	1444	1543	1345	0	0	0	0	0	0	28.83	26.57	28.83
6590	1.26	219.0	3256	2011	1541	1339	566.0	19.7	268	6596	0.00	2.17	0.00	0.000	260	0.000	0.048	3256	3415	1441	1541	1342	0	0	0	0	0	0	28.83	26.57	28.83
6638	1.26	219.0	3255	3413	1541	1342	556.4	20.8	270	6645	0.00	2.10	0.00	0.000	1030	0.000	0.031	3267	2003	1441	1540	1342	0	0	0	0	0	0	28.83	26.63	28.83
6959	1.26	219.0	3267	2003	1540	1341	485.6	22.7	286	6965	0.00	2.12	0.00	0.000	516	0.000	0.041	3278	606	1440	1539	1341	0	0	0	0	0	0	28.83	26.60	28.83
6977	1.26	219.0	3277	606	1539	1340	485.6	22.7	286	6986	0.12	2.08	0.00	0.000	5126	0.172	0.032	3246	2003	1440	1539	1341	0	0	0	0	0	0	26.41	26.63	28.83
7284	1.26	219.0	3249	2002	1539	1339	411.7	22.5	302	7290	0.00	2.12	0.00	0.000	516	0.000	0.040	3258	606	1439	1538	1340	0	0	0	0	0	0	28.83	26.61	28.83
7372	1.26	219.0	3257	606	1538	1339	392.0	22.6	306	7378	0.00	2.08	0.00	0.000	1030	0.000	0.031	3258	2001	1438	1538	1339	0	0	0	0	0	0	28.83	26.65	28.83
7697	1.26	219.0	3257	2001	1538	1339	325.4	18.9	322	7703	0.00	2.17	0.00	0.000	260	0.000	0.047	3257	3414	1438	1538	1339	0	0	0	0	0	0	28.83	26.62	28.83
7817	1.26	219.0	3257	3414	1538	1339	303.5	20.5	327	7825	0.00	2.10	0.00	0.000	1030	0.000	0.030	3269	1993	1438	1538	1339	0	0	0	0	0	0	28.83	26.67	28.83
8124	1.26	219.0	3268	1993	1538	1338	244.1	17.7	343	8130	0.00	2.10	0.00	0.000	516	0.000	0.040	3279	604	1438	1538	1338	0	0	0	0	0	0	28.83	26.64	28.83
8169	1.26	219.0	3279	604	1538	1338	236.5	17.3	345	8176	0.15	2.08	0.00	0.000	5126	0.158	0.031	3238	2010	1438	1538	1338	0	0	0	0	0	0	26.44	26.67	28.83
8495	1.26	219.0	3238	2010	1538	1339	182.7	17.0	361	8501	0.00	2.15	0.00	0.000	260	0.000	0.047	3238	3409	1438	1538	1338	0	0	0	0	0	0	28.83	26.63	28.83
8554	1.26	219.0	3238	3407	1538	1338	174.9	17.1	363	8562	0.00	2.08	0.00	0.000	1030	0.000	0.030	3250	1996	1438	1538	1338	0	0	0	0	0	0	28.83	26.69	28.83
8861	1.26	219.0	3250	1996	1538	1338	120.1	16.7	379	8867	0.00	2.17	0.00	0.000	260	0.000	0.045	3250	3405	1437	1538	1337	0	0	0	0	0	0	28.83	26.63	28.83
8900	1.26	219.0	3250	3405	1538	1337	115.8	17.1	380	8909	0.00	2.08	0.00	0.000	1030	0.000	0.030	3262	1997	1438	1539	1338	0	0	0	0	0	0	28.83	26.70	28.83
9206	1.26	219.0	3261	1997	1539	1338	61.7	16.7	396	9212	0.00	2.17	0.00	0.000	260	0.000	0.045	3262	3408	1439	1540	1338	0	0	0	0	0	0	28.83	26.64	28.83
9349	1.26	219.0	3262	3408	1540	1338	36.2	18.2	406	9358	0.12	2.08	0.00	0.000	5126	0.162	0.028	3239	1991	1439	1541	1338	0	0	0	0	0	0	26.48	26.70	28.83
9576	end climb: SURFACE_DEPTH_REACHED
state	9576	begin surface coast
9598	end surface coast: CONTROL_FINISHED_OK
state	9598	begin surface