Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 16 * 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 500

DIVE 16 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2150 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 58 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 67 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 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -8 T_GPS_CHARGE -968493.31 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 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 50 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 0.0099999998 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 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 500 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 -968493.31

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 2150 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2250 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 58 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 67 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 16 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 4

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 171012,235529,2150.585,12106.706,40,0.9,40,-3.1 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 181012,000259,2150.448,12106.744,5,0.9,5,-3.1 MHEAD_RNG_PITCHd_Wd 343.2,139330,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 773

Post-dive calculations and measurements:

FINISH 1.1,1.021903 _10V_AH 10.1,5.197

SM_CCo 10459,0.00,0.000,0,0,446,618.65 FG_AHR_24Vo 0.000

SM_GC 1.62,7.28,0.12,0.00,0.031,0.085,0.000,118,2258,446,-8.12,-1.05,618.65,0,0,0,0,0,0,26.48,26.53,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2138.81,12106.19,171012,202034 MEM 323900

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 20108,590

HUMID 52.52 CAP_FILE_SIZE 132418,0

INTERNAL_PRESSURE 9.42419 CFSIZE 260165632,247914496

TCM_TEMP 25.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 3 CURRENT 0.428,193.0,1

ALTIM_BOTTOM_PING 551.4,7.9 GPS 181012,025905,2149.651,12105.429,37,1.0,37,-3.1

_24V_AH 23.8,10.913

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 240 114.13 nil 0 0 0.00

Roll_motor 80 84 162.59 nil 0 0 0.00

VBD_pump_during_apogee 605 1366 19688.66 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 10416 40 10050.15

Iridium_during_xfer 276 125 826.96 nil 0 0 0.00

Transponder_ping 1 420 17.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.57

TT8 1812 14 269.23

LPSleep 6497 2 143.72

TT8_Active 620 14 92.22

TT8_Sampling 1736 37 665.41

TT8_CF8 244 44 110.21

TT8_Kalman 0 0 0.00

Analog_circuits 1719 16 277.82

GPS_charging 0 0 0.00

Compass 1379 8 114.81

RAFOS 0 0 0.00

Transponder 11 30 3.52

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 79 0.00 0.00 -58.92 0.000 2 0.000 0.000 109 2285 2519 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.47 -195.5 3.0 -3.5 10 126 9.98 2.17 -27.77 0.000 4 0.241 0.063 2574 3629 3766 0 0 0 0 0 0 25.73 26.10 26.46

196 -0.45 -195.5 21.4 -13.9 30 203 0.00 2.00 0.00 0.000 6 0.000 0.021 2575 2245 3767 0 0 0 0 0 0 28.83 26.27 28.83

506 -0.46 -195.5 84.7 -13.5 53 507 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2244 3768 0 0 0 0 0 0 28.83 28.83 28.83

807 -0.49 -195.5 123.5 -12.4 68 813 0.00 2.12 0.00 0.000 4 0.000 0.048 2574 3619 3769 0 0 0 0 0 0 28.83 26.46 28.83

865 -0.55 -195.5 126.5 -8.6 70 871 0.00 1.98 0.00 0.000 6 0.000 0.021 2574 2235 3769 0 0 0 0 0 0 28.83 26.58 28.83

1171 -0.68 -195.5 146.9 -9.3 86 1177 0.12 2.12 0.00 0.000 4 0.089 0.044 2517 3623 3770 0 0 0 0 0 0 26.63 26.53 28.83

1216 -0.82 -195.5 151.9 -10.6 88 1222 0.12 1.98 0.00 0.000 6 0.076 0.021 2435 2234 3770 0 0 0 0 0 0 26.60 26.65 28.83

1540 -0.79 -195.5 206.9 -15.2 104 1542 0.17 0.00 0.00 0.000 6 0.146 0.000 2485 2231 3771 0 0 0 0 0 0 26.46 28.83 28.83

1842 -0.81 -195.5 238.8 -10.7 119 1847 0.00 2.15 0.00 0.000 4 0.000 0.049 2481 3618 3770 0 0 0 0 0 0 28.83 26.60 28.83

1930 -0.84 -195.5 246.7 -9.3 123 1936 0.00 1.95 0.00 0.000 6 0.000 0.021 2481 2251 3770 0 0 0 0 0 0 28.83 26.71 28.83

2249 -0.86 -195.5 279.8 -11.6 139 2254 0.00 2.12 0.00 0.000 4 0.000 0.050 2480 3627 3769 0 0 0 0 0 0 28.83 26.60 28.83

2321 -0.89 -195.5 287.3 -11.7 142 2327 0.00 1.98 0.00 0.000 6 0.000 0.022 2479 2241 3769 0 0 0 0 0 0 28.83 26.74 28.83

2636 -0.93 -195.5 321.6 -9.1 158 2642 0.12 2.15 0.00 0.000 4 0.084 0.049 2406 3630 3766 0 0 0 0 0 0 26.78 26.61 28.83

2689 -0.93 -195.5 326.8 -10.4 160 2695 0.12 2.00 0.00 0.000 6 0.158 0.022 2438 2240 3766 0 0 0 0 0 0 26.49 26.74 28.83

3003 -0.93 -195.5 362.9 -10.3 176 3009 0.00 2.00 0.00 0.000 4 0.000 0.036 2439 859 3764 0 0 0 0 0 0 28.83 26.70 28.83

3067 -0.93 -195.5 369.7 -10.8 179 3073 0.00 2.05 0.00 0.000 6 0.000 0.037 2438 2228 3764 0 0 0 0 0 0 28.83 26.67 28.83

3391 -0.93 -195.5 401.4 -10.0 195 3396 0.00 2.17 0.00 0.000 4 0.000 0.049 2438 3659 3761 0 0 0 0 0 0 28.83 26.63 28.83

3474 -0.93 -195.5 410.4 -11.0 199 3479 0.00 2.03 0.00 0.000 6 0.000 0.021 2438 2224 3761 0 0 0 0 0 0 28.83 26.79 28.83

3797 -0.93 -195.5 441.7 -8.6 215 3798 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2223 3759 0 0 0 0 0 0 28.83 28.83 28.83

4099 -0.93 -195.5 468.5 -9.5 230 4104 0.00 2.20 0.00 0.000 4 0.000 0.050 2438 3652 3756 0 0 0 0 0 0 28.83 26.62 28.83

4183 -0.93 -195.5 477.0 -9.9 234 4189 0.00 2.00 -0.08 0.000 6 0.000 0.024 2438 2274 3779 0 0 0 0 0 0 28.83 26.74 25.85

4507 -0.93 -195.5 513.6 -12.4 250 4508 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2274 3778 0 0 0 0 0 0 28.83 28.83 28.83

4790 end dive: BOTTOM_OBSTACLE_DETECTED

state 4790 begin apogee

4797 -0.20 0.0 551.4 -13.0 264 4962 0.68 0.00 156.73 0.897 6 0.108 0.000 2671 2110 2962 0 0 0 0 0 0 26.45 28.83 24.37

4963 end apogee: CONTROL_FINISHED_OK

state 4964 begin climb

4966 0.47 195.5 561.6 0.0 272 5137 0.57 2.17 160.57 0.855 4 0.044 0.044 2915 799 2162 0 0 0 0 0 0 25.20 24.89 24.25

5171 0.42 199.9 556.9 9.8 283 5177 0.15 2.15 0.00 0.000 6 0.140 0.037 2872 2148 2153 0 0 0 0 0 0 25.25 25.34 28.83

5495 0.39 199.9 518.9 11.9 299 5501 0.00 2.20 0.00 0.000 4 0.000 0.048 2872 3567 2148 0 0 0 0 0 0 28.83 26.08 28.83

5715 0.35 199.9 487.9 15.5 309 5722 0.00 2.08 0.00 0.000 6 0.000 0.026 2877 2173 2148 0 0 0 0 0 0 28.83 26.32 28.83

6021 0.32 199.9 450.9 10.5 325 6026 0.12 2.17 0.00 0.000 4 0.155 0.049 2838 3567 2145 0 0 0 0 0 0 26.29 26.36 28.83

6078 0.30 199.9 446.6 10.3 327 6085 0.00 2.10 0.00 0.000 6 0.000 0.026 2841 2146 2145 0 0 0 0 0 0 28.83 26.46 28.83

6384 0.30 199.9 414.6 10.7 343 6389 0.00 2.22 0.00 0.000 4 0.000 0.050 2841 3570 2143 0 0 0 0 0 0 28.83 26.44 28.83

6476 0.29 199.9 404.8 11.8 347 6483 0.00 2.08 0.00 0.000 6 0.000 0.025 2842 2140 2143 0 0 0 0 0 0 28.83 26.56 28.83

6791 0.29 199.9 370.0 10.6 363 6792 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 2140 2142 0 0 0 0 0 0 28.83 28.83 28.83

7092 0.29 199.9 337.1 12.3 378 7098 0.00 2.20 0.00 0.000 4 0.000 0.046 2841 3564 2142 0 0 0 0 0 0 28.83 26.53 28.83

7202 0.28 199.9 321.9 14.8 383 7207 0.00 2.05 0.00 0.000 6 0.000 0.024 2841 2140 2140 0 0 0 0 0 0 28.83 26.65 28.83

7520 0.33 332.4 290.8 5.4 399 7646 0.00 2.38 111.15 1.366 4 0.000 0.045 2841 3560 1614 0 0 0 0 1 0 28.83 24.79 23.84

7786 0.40 413.9 274.3 7.2 412 7873 0.00 2.10 73.10 1.262 6 0.000 0.024 2841 2155 1279 0 0 0 0 1 0 28.83 25.83 23.85

8187 0.50 451.9 243.6 8.7 432 8231 0.15 2.25 38.50 0.716 4 0.070 0.042 2934 3558 1118 0 0 0 0 0 0 26.12 25.46 24.89

8275 0.51 451.9 230.9 15.5 436 8281 0.00 2.12 0.00 0.000 6 0.000 0.025 2934 2151 1113 0 0 0 0 0 0 28.83 25.75 28.83

8594 0.51 451.9 184.0 12.2 452 8595 0.00 0.00 0.00 0.000 6 0.000 0.000 2935 2150 1107 0 0 0 0 0 0 28.83 28.83 28.83

8895 0.52 451.9 141.0 15.7 467 8901 0.00 2.17 0.00 0.000 4 0.000 0.044 2934 3561 1110 0 0 0 0 0 0 28.83 26.32 28.83

9021 0.53 451.9 127.3 10.2 473 9027 0.00 2.08 0.00 0.000 6 0.000 0.024 2934 2134 1109 0 0 0 0 0 0 28.83 26.45 28.83

9346 0.61 497.4 99.3 8.4 489 9370 0.00 2.25 17.00 0.366 4 0.000 0.043 2935 3555 939 0 0 0 0 0 0 28.83 26.29 25.80

9418 0.66 498.3 92.9 10.0 492 9424 0.00 2.08 0.00 0.000 6 0.000 0.024 2935 2136 941 0 0 0 0 0 0 28.83 26.43 28.83

9732 0.81 631.4 71.0 5.4 508 9784 0.17 0.00 48.42 0.295 6 0.064 0.000 3040 2135 457 0 0 0 0 0 0 26.55 28.83 25.73

10072 0.82 631.4 27.2 13.1 533 10078 0.12 2.05 0.00 0.000 4 0.130 0.033 2997 754 449 0 0 0 0 0 0 26.29 26.36 28.83

10107 0.88 640.6 23.9 9.7 537 10114 0.00 2.10 0.00 0.000 6 0.000 0.034 2997 2161 448 0 0 0 0 0 0 28.83 26.37 28.83

10341 end climb: SURFACE_DEPTH_REACHED

state 10342 begin surface coast

10381 end surface coast: CONTROL_FINISHED_OK

state 10381 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	500
DIVE	16	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2150	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	58	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	67	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	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-8	T_GPS_CHARGE	-968493.31	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	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	50	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	171012,235529,2150.585,12106.706,40,0.9,40,-3.1	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	181012,000259,2150.448,12106.744,5,0.9,5,-3.1	MHEAD_RNG_PITCHd_Wd	343.2,139330,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	773

FINISH	1.1,1.021903	_10V_AH	10.1,5.197
SM_CCo	10459,0.00,0.000,0,0,446,618.65	FG_AHR_24Vo	0.000
SM_GC	1.62,7.28,0.12,0.00,0.031,0.085,0.000,118,2258,446,-8.12,-1.05,618.65,0,0,0,0,0,0,26.48,26.53,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2138.81,12106.19,171012,202034	MEM	323900
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	20108,590
HUMID	52.52	CAP_FILE_SIZE	132418,0
INTERNAL_PRESSURE	9.42419	CFSIZE	260165632,247914496
TCM_TEMP	25.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	3	CURRENT	0.428,193.0,1
ALTIM_BOTTOM_PING	551.4,7.9	GPS	181012,025905,2149.651,12105.429,37,1.0,37,-3.1
_24V_AH	23.8,10.913

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	240	114.13	nil	0	0	0.00
Roll_motor	80	84	162.59	nil	0	0	0.00
VBD_pump_during_apogee	605	1366	19688.66	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	10416	40	10050.15
Iridium_during_xfer	276	125	826.96	nil	0	0	0.00
Transponder_ping	1	420	17.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.57
TT8	1812	14	269.23
LPSleep	6497	2	143.72
TT8_Active	620	14	92.22
TT8_Sampling	1736	37	665.41
TT8_CF8	244	44	110.21
TT8_Kalman	0	0	0.00
Analog_circuits	1719	16	277.82
GPS_charging	0	0	0.00
Compass	1379	8	114.81
RAFOS	0	0	0.00
Transponder	11	30	3.52

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	79	0.00	0.00	-58.92	0.000	2	0.000	0.000	109	2285	2519	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.47	-195.5	3.0	-3.5	10	126	9.98	2.17	-27.77	0.000	4	0.241	0.063	2574	3629	3766	0	0	0	0	0	0	25.73	26.10	26.46
196	-0.45	-195.5	21.4	-13.9	30	203	0.00	2.00	0.00	0.000	6	0.000	0.021	2575	2245	3767	0	0	0	0	0	0	28.83	26.27	28.83
506	-0.46	-195.5	84.7	-13.5	53	507	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2244	3768	0	0	0	0	0	0	28.83	28.83	28.83
807	-0.49	-195.5	123.5	-12.4	68	813	0.00	2.12	0.00	0.000	4	0.000	0.048	2574	3619	3769	0	0	0	0	0	0	28.83	26.46	28.83
865	-0.55	-195.5	126.5	-8.6	70	871	0.00	1.98	0.00	0.000	6	0.000	0.021	2574	2235	3769	0	0	0	0	0	0	28.83	26.58	28.83
1171	-0.68	-195.5	146.9	-9.3	86	1177	0.12	2.12	0.00	0.000	4	0.089	0.044	2517	3623	3770	0	0	0	0	0	0	26.63	26.53	28.83
1216	-0.82	-195.5	151.9	-10.6	88	1222	0.12	1.98	0.00	0.000	6	0.076	0.021	2435	2234	3770	0	0	0	0	0	0	26.60	26.65	28.83
1540	-0.79	-195.5	206.9	-15.2	104	1542	0.17	0.00	0.00	0.000	6	0.146	0.000	2485	2231	3771	0	0	0	0	0	0	26.46	28.83	28.83
1842	-0.81	-195.5	238.8	-10.7	119	1847	0.00	2.15	0.00	0.000	4	0.000	0.049	2481	3618	3770	0	0	0	0	0	0	28.83	26.60	28.83
1930	-0.84	-195.5	246.7	-9.3	123	1936	0.00	1.95	0.00	0.000	6	0.000	0.021	2481	2251	3770	0	0	0	0	0	0	28.83	26.71	28.83
2249	-0.86	-195.5	279.8	-11.6	139	2254	0.00	2.12	0.00	0.000	4	0.000	0.050	2480	3627	3769	0	0	0	0	0	0	28.83	26.60	28.83
2321	-0.89	-195.5	287.3	-11.7	142	2327	0.00	1.98	0.00	0.000	6	0.000	0.022	2479	2241	3769	0	0	0	0	0	0	28.83	26.74	28.83
2636	-0.93	-195.5	321.6	-9.1	158	2642	0.12	2.15	0.00	0.000	4	0.084	0.049	2406	3630	3766	0	0	0	0	0	0	26.78	26.61	28.83
2689	-0.93	-195.5	326.8	-10.4	160	2695	0.12	2.00	0.00	0.000	6	0.158	0.022	2438	2240	3766	0	0	0	0	0	0	26.49	26.74	28.83
3003	-0.93	-195.5	362.9	-10.3	176	3009	0.00	2.00	0.00	0.000	4	0.000	0.036	2439	859	3764	0	0	0	0	0	0	28.83	26.70	28.83
3067	-0.93	-195.5	369.7	-10.8	179	3073	0.00	2.05	0.00	0.000	6	0.000	0.037	2438	2228	3764	0	0	0	0	0	0	28.83	26.67	28.83
3391	-0.93	-195.5	401.4	-10.0	195	3396	0.00	2.17	0.00	0.000	4	0.000	0.049	2438	3659	3761	0	0	0	0	0	0	28.83	26.63	28.83
3474	-0.93	-195.5	410.4	-11.0	199	3479	0.00	2.03	0.00	0.000	6	0.000	0.021	2438	2224	3761	0	0	0	0	0	0	28.83	26.79	28.83
3797	-0.93	-195.5	441.7	-8.6	215	3798	0.00	0.00	0.00	0.000	6	0.000	0.000	2438	2223	3759	0	0	0	0	0	0	28.83	28.83	28.83
4099	-0.93	-195.5	468.5	-9.5	230	4104	0.00	2.20	0.00	0.000	4	0.000	0.050	2438	3652	3756	0	0	0	0	0	0	28.83	26.62	28.83
4183	-0.93	-195.5	477.0	-9.9	234	4189	0.00	2.00	-0.08	0.000	6	0.000	0.024	2438	2274	3779	0	0	0	0	0	0	28.83	26.74	25.85
4507	-0.93	-195.5	513.6	-12.4	250	4508	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	2274	3778	0	0	0	0	0	0	28.83	28.83	28.83
4790	end dive: BOTTOM_OBSTACLE_DETECTED
state	4790	begin apogee
4797	-0.20	0.0	551.4	-13.0	264	4962	0.68	0.00	156.73	0.897	6	0.108	0.000	2671	2110	2962	0	0	0	0	0	0	26.45	28.83	24.37
4963	end apogee: CONTROL_FINISHED_OK
state	4964	begin climb
4966	0.47	195.5	561.6	0.0	272	5137	0.57	2.17	160.57	0.855	4	0.044	0.044	2915	799	2162	0	0	0	0	0	0	25.20	24.89	24.25
5171	0.42	199.9	556.9	9.8	283	5177	0.15	2.15	0.00	0.000	6	0.140	0.037	2872	2148	2153	0	0	0	0	0	0	25.25	25.34	28.83
5495	0.39	199.9	518.9	11.9	299	5501	0.00	2.20	0.00	0.000	4	0.000	0.048	2872	3567	2148	0	0	0	0	0	0	28.83	26.08	28.83
5715	0.35	199.9	487.9	15.5	309	5722	0.00	2.08	0.00	0.000	6	0.000	0.026	2877	2173	2148	0	0	0	0	0	0	28.83	26.32	28.83
6021	0.32	199.9	450.9	10.5	325	6026	0.12	2.17	0.00	0.000	4	0.155	0.049	2838	3567	2145	0	0	0	0	0	0	26.29	26.36	28.83
6078	0.30	199.9	446.6	10.3	327	6085	0.00	2.10	0.00	0.000	6	0.000	0.026	2841	2146	2145	0	0	0	0	0	0	28.83	26.46	28.83
6384	0.30	199.9	414.6	10.7	343	6389	0.00	2.22	0.00	0.000	4	0.000	0.050	2841	3570	2143	0	0	0	0	0	0	28.83	26.44	28.83
6476	0.29	199.9	404.8	11.8	347	6483	0.00	2.08	0.00	0.000	6	0.000	0.025	2842	2140	2143	0	0	0	0	0	0	28.83	26.56	28.83
6791	0.29	199.9	370.0	10.6	363	6792	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	2140	2142	0	0	0	0	0	0	28.83	28.83	28.83
7092	0.29	199.9	337.1	12.3	378	7098	0.00	2.20	0.00	0.000	4	0.000	0.046	2841	3564	2142	0	0	0	0	0	0	28.83	26.53	28.83
7202	0.28	199.9	321.9	14.8	383	7207	0.00	2.05	0.00	0.000	6	0.000	0.024	2841	2140	2140	0	0	0	0	0	0	28.83	26.65	28.83
7520	0.33	332.4	290.8	5.4	399	7646	0.00	2.38	111.15	1.366	4	0.000	0.045	2841	3560	1614	0	0	0	0	1	0	28.83	24.79	23.84
7786	0.40	413.9	274.3	7.2	412	7873	0.00	2.10	73.10	1.262	6	0.000	0.024	2841	2155	1279	0	0	0	0	1	0	28.83	25.83	23.85
8187	0.50	451.9	243.6	8.7	432	8231	0.15	2.25	38.50	0.716	4	0.070	0.042	2934	3558	1118	0	0	0	0	0	0	26.12	25.46	24.89
8275	0.51	451.9	230.9	15.5	436	8281	0.00	2.12	0.00	0.000	6	0.000	0.025	2934	2151	1113	0	0	0	0	0	0	28.83	25.75	28.83
8594	0.51	451.9	184.0	12.2	452	8595	0.00	0.00	0.00	0.000	6	0.000	0.000	2935	2150	1107	0	0	0	0	0	0	28.83	28.83	28.83
8895	0.52	451.9	141.0	15.7	467	8901	0.00	2.17	0.00	0.000	4	0.000	0.044	2934	3561	1110	0	0	0	0	0	0	28.83	26.32	28.83
9021	0.53	451.9	127.3	10.2	473	9027	0.00	2.08	0.00	0.000	6	0.000	0.024	2934	2134	1109	0	0	0	0	0	0	28.83	26.45	28.83
9346	0.61	497.4	99.3	8.4	489	9370	0.00	2.25	17.00	0.366	4	0.000	0.043	2935	3555	939	0	0	0	0	0	0	28.83	26.29	25.80
9418	0.66	498.3	92.9	10.0	492	9424	0.00	2.08	0.00	0.000	6	0.000	0.024	2935	2136	941	0	0	0	0	0	0	28.83	26.43	28.83
9732	0.81	631.4	71.0	5.4	508	9784	0.17	0.00	48.42	0.295	6	0.064	0.000	3040	2135	457	0	0	0	0	0	0	26.55	28.83	25.73
10072	0.82	631.4	27.2	13.1	533	10078	0.12	2.05	0.00	0.000	4	0.130	0.033	2997	754	449	0	0	0	0	0	0	26.29	26.36	28.83
10107	0.88	640.6	23.9	9.7	537	10114	0.00	2.10	0.00	0.000	6	0.000	0.034	2997	2161	448	0	0	0	0	0	0	28.83	26.37	28.83
10341	end climb: SURFACE_DEPTH_REACHED
state	10342	begin surface coast
10381	end surface coast: CONTROL_FINISHED_OK
state	10381	begin surface