Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 165 * 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 165 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 53 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 30 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 -20716.695 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 2820 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 -20716.695

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 2820 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 53 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 30 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 165 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 210313,225957,2135.412,12353.293,12,3.1,31,-2.8 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 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210313,230536,2135.413,12353.293,17,1.8,17,-2.8 MHEAD_RNG_PITCHd_Wd 331.7,299678,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 5314

Post-dive calculations and measurements:

FINISH 0.5,1.010840 _10V_AH 10.3,17.863

SM_CCo 9681,82.20,0.059,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.57,7.88,0.77,82.20,0.035,0.049,0.059,135,2492,748,-8.30,-1.30,400.08,0,0,0,0,0,0,26.69,26.65,26.51 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2127.21,12347.19,210313,202040 MEM 329700

TT8_MAMPS 0.048685,0.048685 DATA_FILE_SIZE 16767,458

HUMID 45.03 CAP_FILE_SIZE 256994,0

INTERNAL_PRESSURE 9.63274 CFSIZE 260034560,236052480

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 0.071,182.2,1

SC_FREEKB 3967776 GPS 220313,015006,2136.565,12352.542,41,1.2,42,-2.9

_24V_AH 24.2,24.480

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 216 103.60 nil 0 0 0.00

Roll_motor 90 56 123.40 nil 0 0 0.00

VBD_pump_during_apogee 562 895 12190.91 nil 0 0 0.00

VBD_pump_during_surface 82 58 117.18 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 9673 3 926.51

Iridium_during_xfer 195 121 576.28 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 1976 35 731.64

LPSleep 5684 2 128.22

TT8_Active 703 35 260.21

TT8_Sampling 1481 58 891.41

TT8_CF8 254 65 173.00

TT8_Kalman 0 0 0.00

Analog_circuits 1651 15 255.23

GPS_charging 0 0 0.00

Compass 1205 5 74.37

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -1.25 -219.0 121 2497 837 664 0.0 0.0 0 82 0.00 0.00 -61.30 0.000 16386 0.000 0.000 121 2497 2493 2558 2429 0 0 0 0 0 0 28.83 28.83 28.83

85 -1.25 -219.0 121 2497 2561 2431 3.3 -4.9 8 117 8.73 2.10 -14.35 0.000 19204 0.216 0.044 2408 1089 3276 3346 3206 0 0 0 0 0 0 25.94 26.34 26.66

281 -1.25 -219.0 2408 1089 3348 3206 64.6 -31.7 27 289 0.00 2.17 0.00 0.000 1030 0.000 0.041 2398 2505 3277 3349 3206 0 0 0 0 0 0 28.83 26.39 28.83

587 -1.25 -219.0 2398 2504 3350 3206 173.3 -34.5 43 592 0.00 1.83 0.00 0.000 260 0.000 0.054 2389 3680 3278 3350 3206 0 0 0 0 0 0 28.83 26.48 28.83

656 -1.25 -219.0 1440 3679 3331 3202 196.2 -35.7 46 662 0.00 1.70 0.00 0.000 1030 0.000 0.024 2389 2488 3278 3350 3206 0 0 0 0 0 0 28.83 26.61 28.83

975 -1.25 -219.0 2389 2487 3354 3206 302.2 -29.9 62 982 0.12 1.85 0.00 0.000 2308 0.169 0.052 2418 3674 3279 3353 3206 0 0 0 0 0 0 26.43 26.55 28.83

1017 -1.25 -219.0 2418 3674 3354 3207 309.4 -29.7 63 1025 0.00 1.67 0.00 0.000 1030 0.000 0.024 2418 2497 3280 3354 3207 0 0 0 0 0 0 28.83 26.67 28.83

1320 -1.25 -219.0 2418 2495 3354 3206 392.3 -26.1 79 1327 0.00 1.83 0.00 0.000 260 0.000 0.055 2409 3673 3280 3355 3206 0 0 0 0 0 0 28.83 26.58 28.83

1375 -1.25 -219.0 2409 3673 3356 3207 404.5 -26.8 81 1381 0.00 1.67 0.00 0.000 1030 0.000 0.024 2409 2491 3280 3354 3207 0 0 0 0 0 0 28.83 26.71 28.83

1690 -1.25 -219.0 2409 2489 3356 3207 486.3 -24.0 97 1691 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2489 3281 3357 3206 0 0 0 0 0 0 28.83 28.83 28.83

1989 -1.25 -219.0 2408 2489 3357 3206 554.9 -22.6 112 1995 0.00 2.03 0.00 0.000 516 0.000 0.032 2409 1112 3281 3357 3206 0 0 0 0 0 0 28.83 26.67 28.83

2013 -1.25 -219.0 2409 1112 3357 3206 560.6 -23.1 113 2019 0.00 2.10 0.00 0.000 1030 0.000 0.041 2395 2501 3282 3357 3207 0 0 0 0 0 0 28.83 26.63 28.83

2327 -1.25 -219.0 2395 2501 3356 3206 638.0 -24.3 126 2333 0.00 1.83 0.00 0.000 260 0.000 0.057 2389 3677 3281 3356 3206 0 0 0 0 0 0 28.83 26.63 28.83

2400 -1.25 -219.0 2389 3677 3356 3207 652.8 -23.5 128 2407 0.10 1.67 0.00 0.000 3078 0.163 0.024 2414 2492 3282 3357 3207 0 0 0 0 0 0 26.53 26.76 28.83

2725 -1.25 -219.0 2414 2491 3356 3205 716.9 -19.7 139 2731 0.00 1.85 0.00 0.000 260 0.000 0.056 2406 3675 3280 3356 3205 0 0 0 0 0 0 28.83 26.63 28.83

2769 -1.25 -219.0 2406 3675 3356 3205 724.1 -20.5 140 2775 0.00 1.67 0.00 0.000 1030 0.000 0.024 2407 2492 3280 3356 3205 0 0 0 0 0 0 28.83 26.77 28.83

3093 -1.25 -219.0 2406 2491 3355 3200 801.5 -23.2 151 3099 0.00 1.85 0.00 0.000 260 0.000 0.057 2397 3674 3278 3356 3200 0 0 0 0 0 0 28.83 26.63 28.83

3138 -1.25 -219.0 2397 3674 3356 3199 809.5 -23.0 152 3144 0.00 1.67 0.00 0.000 1030 0.000 0.025 2397 2495 3277 3356 3199 0 0 0 0 0 0 28.83 26.77 28.83

3462 -1.25 -219.0 2397 2494 3356 3194 879.3 -20.0 163 3468 0.00 2.03 0.00 0.000 516 0.000 0.031 2397 1115 3274 3356 3193 0 0 0 0 0 0 28.83 26.70 28.83

3490 -1.25 -219.0 2397 1115 3356 3193 879.3 -20.0 163 3498 0.12 2.12 0.00 0.000 3078 0.165 0.043 2419 2505 3274 3356 3193 0 0 0 0 0 0 26.48 26.64 28.83

3797 -1.25 -219.0 2420 2505 3356 3188 942.2 -18.5 174 3803 0.00 2.05 0.00 0.000 516 0.000 0.031 2420 1115 3272 3356 3188 0 0 0 0 0 0 28.83 26.70 28.83

3825 -1.25 -219.0 2420 1116 3356 3188 942.2 -18.5 174 3833 0.00 2.12 0.00 0.000 1030 0.000 0.043 2410 2506 3272 3356 3188 0 0 0 0 0 0 28.83 26.64 28.83

3951 end dive: TARGET_DEPTH_EXCEEDED

state 3951 begin apogee

3956 -0.20 0.0 2409 1997 3355 3185 970.1 -17.9 179 4299 1.00 0.00 332.12 0.744 10246 0.116 0.000 2748 1995 2373 2533 2214 0 0 0 0 0 0 26.46 28.83 24.53

4302 end apogee: CONTROL_FINISHED_OK

state 4302 begin climb

4304 1.25 219.0 2747 1994 2531 2208 982.6 0.0 189 4547 1.30 2.22 230.70 0.895 10756 0.050 0.042 3238 634 1472 1571 1373 0 0 0 0 0 0 25.27 24.91 24.23

4773 1.25 219.0 2304 634 1522 1348 894.3 24.4 204 4779 0.00 2.12 0.00 0.000 1030 0.000 0.032 3238 2023 1452 1551 1353 0 0 0 0 0 0 28.83 25.96 28.83

5092 1.25 219.0 3238 2021 1547 1350 819.7 21.3 215 5098 0.00 2.15 0.00 0.000 516 0.000 0.037 3250 627 1450 1548 1353 0 0 0 0 0 0 28.83 26.29 28.83

5127 1.25 219.0 3250 627 1547 1349 812.3 21.3 216 5132 0.00 2.08 0.00 0.000 1030 0.000 0.032 3250 2001 1448 1547 1349 0 0 0 0 0 0 28.83 26.34 28.83

5462 1.25 219.0 3250 2001 1546 1347 738.4 21.7 227 5467 0.00 2.17 0.00 0.000 260 0.000 0.047 3250 3402 1445 1544 1347 0 0 0 0 0 0 28.83 26.44 28.83

5480 1.25 219.0 3249 3402 1546 1347 738.4 21.7 227 5487 0.15 2.05 0.00 0.000 5126 0.171 0.029 3222 2016 1446 1546 1347 0 0 0 0 0 0 26.25 26.50 28.83

5801 1.25 219.0 3222 2016 1545 1345 671.0 20.5 238 5807 0.00 2.15 0.00 0.000 516 0.000 0.040 3233 606 1444 1544 1344 0 0 0 0 0 0 28.83 26.51 28.83

5828 1.25 219.0 3233 606 1545 1344 671.0 20.5 238 5836 0.00 2.08 0.00 0.000 1030 0.000 0.032 3233 1999 1444 1545 1344 0 0 0 0 0 0 28.83 26.54 28.83

6136 1.25 219.0 3233 2000 1544 1342 595.8 23.6 249 6142 0.00 2.17 0.00 0.000 260 0.000 0.047 3233 3405 1443 1544 1342 0 0 0 0 0 0 28.83 26.55 28.83

6208 1.25 219.0 3233 3405 1543 1342 578.3 25.3 252 6214 0.00 2.08 0.00 0.000 1030 0.000 0.030 3244 2004 1442 1543 1342 0 0 0 0 0 0 28.83 26.61 28.83

6528 1.25 219.0 3244 2003 1541 1341 510.0 20.5 268 6535 0.00 2.12 0.00 0.000 516 0.000 0.041 3256 606 1441 1541 1341 0 0 0 0 0 0 28.83 26.58 28.83

6599 1.25 219.0 3256 606 1540 1341 497.0 19.5 271 6606 0.12 2.08 0.00 0.000 5126 0.170 0.031 3223 2005 1440 1540 1341 0 0 0 0 0 0 26.39 26.62 28.83

6920 1.25 219.0 3223 2005 1539 1338 438.4 18.1 287 6925 0.00 2.12 0.00 0.000 516 0.000 0.040 3234 609 1438 1539 1338 0 0 0 0 0 0 28.83 26.60 28.83

6985 1.25 219.0 3234 609 1539 1338 425.1 19.6 290 6992 0.00 2.08 0.00 0.000 1030 0.000 0.032 3234 1998 1438 1539 1338 0 0 0 0 0 0 28.83 26.64 28.83

7310 1.25 219.0 3234 1998 1539 1338 363.4 18.0 306 7316 0.00 2.17 0.00 0.000 260 0.000 0.047 3234 3408 1438 1539 1338 0 0 0 0 0 0 28.83 26.60 28.83

7376 1.25 219.0 3234 3408 1539 1338 350.8 18.7 309 7382 0.00 2.10 0.00 0.000 1030 0.000 0.030 3246 1997 1439 1539 1339 0 0 0 0 0 0 28.83 26.67 28.83

7701 1.25 219.0 3245 1996 1539 1337 291.2 18.0 325 7707 0.00 2.10 0.00 0.000 516 0.000 0.040 3257 608 1437 1538 1337 0 0 0 0 0 0 28.83 26.63 28.83

7799 1.25 219.0 3257 608 1539 1337 274.0 19.2 329 7806 0.12 2.08 0.00 0.000 5126 0.164 0.031 3224 2008 1438 1539 1337 0 0 0 0 0 0 26.44 26.66 28.83

8115 1.25 219.0 3223 2008 1538 1337 220.0 15.4 345 8122 0.00 2.12 0.00 0.000 516 0.000 0.039 3234 606 1438 1539 1337 0 0 0 0 0 0 28.83 26.63 28.83

8222 1.25 219.0 2240 606 1508 1334 205.4 13.4 350 8229 0.00 2.08 0.00 0.000 1030 0.000 0.031 3234 2005 1438 1539 1337 0 0 0 0 0 0 28.83 26.68 28.83

8548 1.25 219.0 3234 2005 1539 1337 167.8 12.0 366 8553 0.00 2.15 0.00 0.000 260 0.000 0.045 3235 3409 1438 1539 1337 0 0 0 0 0 0 28.83 26.63 28.83

8653 1.25 219.0 2224 3408 1507 1333 152.2 15.0 371 8659 0.00 2.08 0.00 0.000 1030 0.000 0.028 3246 1991 1438 1539 1337 0 0 0 0 0 0 28.83 26.70 28.83

8978 1.25 219.0 3246 1990 1539 1337 99.5 16.9 387 8980 0.00 0.00 0.00 0.000 6 0.000 0.000 3246 1990 1438 1540 1337 0 0 0 0 0 0 28.83 28.83 28.83

9278 1.25 219.0 3246 1990 1543 1337 49.7 15.5 402 9283 0.00 2.17 0.00 0.000 260 0.000 0.046 3246 3404 1440 1544 1337 0 0 0 0 0 0 28.83 26.64 28.83

9419 1.25 219.0 3246 3402 1545 1337 28.7 14.3 415 9425 0.12 2.05 0.00 0.000 5126 0.161 0.028 3224 1994 1441 1545 1337 0 0 0 0 0 0 26.48 26.71 28.83

9636 end climb: SURFACE_DEPTH_REACHED

state 9636 begin surface coast

9664 end surface coast: CONTROL_FINISHED_OK

state 9664 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	165	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	53	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	30	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	-20716.695	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	2820	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	210313,225957,2135.412,12353.293,12,3.1,31,-2.8	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	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210313,230536,2135.413,12353.293,17,1.8,17,-2.8	MHEAD_RNG_PITCHd_Wd	331.7,299678,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	5314

FINISH	0.5,1.010840	_10V_AH	10.3,17.863
SM_CCo	9681,82.20,0.059,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.57,7.88,0.77,82.20,0.035,0.049,0.059,135,2492,748,-8.30,-1.30,400.08,0,0,0,0,0,0,26.69,26.65,26.51	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2127.21,12347.19,210313,202040	MEM	329700
TT8_MAMPS	0.048685,0.048685	DATA_FILE_SIZE	16767,458
HUMID	45.03	CAP_FILE_SIZE	256994,0
INTERNAL_PRESSURE	9.63274	CFSIZE	260034560,236052480
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	0.071,182.2,1
SC_FREEKB	3967776	GPS	220313,015006,2136.565,12352.542,41,1.2,42,-2.9
_24V_AH	24.2,24.480

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	216	103.60	nil	0	0	0.00
Roll_motor	90	56	123.40	nil	0	0	0.00
VBD_pump_during_apogee	562	895	12190.91	nil	0	0	0.00
VBD_pump_during_surface	82	58	117.18	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	9673	3	926.51
Iridium_during_xfer	195	121	576.28	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	1976	35	731.64
LPSleep	5684	2	128.22
TT8_Active	703	35	260.21
TT8_Sampling	1481	58	891.41
TT8_CF8	254	65	173.00
TT8_Kalman	0	0	0.00
Analog_circuits	1651	15	255.23
GPS_charging	0	0	0.00
Compass	1205	5	74.37
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-1.25	-219.0	121	2497	837	664	0.0	0.0	0	82	0.00	0.00	-61.30	0.000	16386	0.000	0.000	121	2497	2493	2558	2429	0	0	0	0	0	0	28.83	28.83	28.83
85	-1.25	-219.0	121	2497	2561	2431	3.3	-4.9	8	117	8.73	2.10	-14.35	0.000	19204	0.216	0.044	2408	1089	3276	3346	3206	0	0	0	0	0	0	25.94	26.34	26.66
281	-1.25	-219.0	2408	1089	3348	3206	64.6	-31.7	27	289	0.00	2.17	0.00	0.000	1030	0.000	0.041	2398	2505	3277	3349	3206	0	0	0	0	0	0	28.83	26.39	28.83
587	-1.25	-219.0	2398	2504	3350	3206	173.3	-34.5	43	592	0.00	1.83	0.00	0.000	260	0.000	0.054	2389	3680	3278	3350	3206	0	0	0	0	0	0	28.83	26.48	28.83
656	-1.25	-219.0	1440	3679	3331	3202	196.2	-35.7	46	662	0.00	1.70	0.00	0.000	1030	0.000	0.024	2389	2488	3278	3350	3206	0	0	0	0	0	0	28.83	26.61	28.83
975	-1.25	-219.0	2389	2487	3354	3206	302.2	-29.9	62	982	0.12	1.85	0.00	0.000	2308	0.169	0.052	2418	3674	3279	3353	3206	0	0	0	0	0	0	26.43	26.55	28.83
1017	-1.25	-219.0	2418	3674	3354	3207	309.4	-29.7	63	1025	0.00	1.67	0.00	0.000	1030	0.000	0.024	2418	2497	3280	3354	3207	0	0	0	0	0	0	28.83	26.67	28.83
1320	-1.25	-219.0	2418	2495	3354	3206	392.3	-26.1	79	1327	0.00	1.83	0.00	0.000	260	0.000	0.055	2409	3673	3280	3355	3206	0	0	0	0	0	0	28.83	26.58	28.83
1375	-1.25	-219.0	2409	3673	3356	3207	404.5	-26.8	81	1381	0.00	1.67	0.00	0.000	1030	0.000	0.024	2409	2491	3280	3354	3207	0	0	0	0	0	0	28.83	26.71	28.83
1690	-1.25	-219.0	2409	2489	3356	3207	486.3	-24.0	97	1691	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2489	3281	3357	3206	0	0	0	0	0	0	28.83	28.83	28.83
1989	-1.25	-219.0	2408	2489	3357	3206	554.9	-22.6	112	1995	0.00	2.03	0.00	0.000	516	0.000	0.032	2409	1112	3281	3357	3206	0	0	0	0	0	0	28.83	26.67	28.83
2013	-1.25	-219.0	2409	1112	3357	3206	560.6	-23.1	113	2019	0.00	2.10	0.00	0.000	1030	0.000	0.041	2395	2501	3282	3357	3207	0	0	0	0	0	0	28.83	26.63	28.83
2327	-1.25	-219.0	2395	2501	3356	3206	638.0	-24.3	126	2333	0.00	1.83	0.00	0.000	260	0.000	0.057	2389	3677	3281	3356	3206	0	0	0	0	0	0	28.83	26.63	28.83
2400	-1.25	-219.0	2389	3677	3356	3207	652.8	-23.5	128	2407	0.10	1.67	0.00	0.000	3078	0.163	0.024	2414	2492	3282	3357	3207	0	0	0	0	0	0	26.53	26.76	28.83
2725	-1.25	-219.0	2414	2491	3356	3205	716.9	-19.7	139	2731	0.00	1.85	0.00	0.000	260	0.000	0.056	2406	3675	3280	3356	3205	0	0	0	0	0	0	28.83	26.63	28.83
2769	-1.25	-219.0	2406	3675	3356	3205	724.1	-20.5	140	2775	0.00	1.67	0.00	0.000	1030	0.000	0.024	2407	2492	3280	3356	3205	0	0	0	0	0	0	28.83	26.77	28.83
3093	-1.25	-219.0	2406	2491	3355	3200	801.5	-23.2	151	3099	0.00	1.85	0.00	0.000	260	0.000	0.057	2397	3674	3278	3356	3200	0	0	0	0	0	0	28.83	26.63	28.83
3138	-1.25	-219.0	2397	3674	3356	3199	809.5	-23.0	152	3144	0.00	1.67	0.00	0.000	1030	0.000	0.025	2397	2495	3277	3356	3199	0	0	0	0	0	0	28.83	26.77	28.83
3462	-1.25	-219.0	2397	2494	3356	3194	879.3	-20.0	163	3468	0.00	2.03	0.00	0.000	516	0.000	0.031	2397	1115	3274	3356	3193	0	0	0	0	0	0	28.83	26.70	28.83
3490	-1.25	-219.0	2397	1115	3356	3193	879.3	-20.0	163	3498	0.12	2.12	0.00	0.000	3078	0.165	0.043	2419	2505	3274	3356	3193	0	0	0	0	0	0	26.48	26.64	28.83
3797	-1.25	-219.0	2420	2505	3356	3188	942.2	-18.5	174	3803	0.00	2.05	0.00	0.000	516	0.000	0.031	2420	1115	3272	3356	3188	0	0	0	0	0	0	28.83	26.70	28.83
3825	-1.25	-219.0	2420	1116	3356	3188	942.2	-18.5	174	3833	0.00	2.12	0.00	0.000	1030	0.000	0.043	2410	2506	3272	3356	3188	0	0	0	0	0	0	28.83	26.64	28.83
3951	end dive: TARGET_DEPTH_EXCEEDED
state	3951	begin apogee
3956	-0.20	0.0	2409	1997	3355	3185	970.1	-17.9	179	4299	1.00	0.00	332.12	0.744	10246	0.116	0.000	2748	1995	2373	2533	2214	0	0	0	0	0	0	26.46	28.83	24.53
4302	end apogee: CONTROL_FINISHED_OK
state	4302	begin climb
4304	1.25	219.0	2747	1994	2531	2208	982.6	0.0	189	4547	1.30	2.22	230.70	0.895	10756	0.050	0.042	3238	634	1472	1571	1373	0	0	0	0	0	0	25.27	24.91	24.23
4773	1.25	219.0	2304	634	1522	1348	894.3	24.4	204	4779	0.00	2.12	0.00	0.000	1030	0.000	0.032	3238	2023	1452	1551	1353	0	0	0	0	0	0	28.83	25.96	28.83
5092	1.25	219.0	3238	2021	1547	1350	819.7	21.3	215	5098	0.00	2.15	0.00	0.000	516	0.000	0.037	3250	627	1450	1548	1353	0	0	0	0	0	0	28.83	26.29	28.83
5127	1.25	219.0	3250	627	1547	1349	812.3	21.3	216	5132	0.00	2.08	0.00	0.000	1030	0.000	0.032	3250	2001	1448	1547	1349	0	0	0	0	0	0	28.83	26.34	28.83
5462	1.25	219.0	3250	2001	1546	1347	738.4	21.7	227	5467	0.00	2.17	0.00	0.000	260	0.000	0.047	3250	3402	1445	1544	1347	0	0	0	0	0	0	28.83	26.44	28.83
5480	1.25	219.0	3249	3402	1546	1347	738.4	21.7	227	5487	0.15	2.05	0.00	0.000	5126	0.171	0.029	3222	2016	1446	1546	1347	0	0	0	0	0	0	26.25	26.50	28.83
5801	1.25	219.0	3222	2016	1545	1345	671.0	20.5	238	5807	0.00	2.15	0.00	0.000	516	0.000	0.040	3233	606	1444	1544	1344	0	0	0	0	0	0	28.83	26.51	28.83
5828	1.25	219.0	3233	606	1545	1344	671.0	20.5	238	5836	0.00	2.08	0.00	0.000	1030	0.000	0.032	3233	1999	1444	1545	1344	0	0	0	0	0	0	28.83	26.54	28.83
6136	1.25	219.0	3233	2000	1544	1342	595.8	23.6	249	6142	0.00	2.17	0.00	0.000	260	0.000	0.047	3233	3405	1443	1544	1342	0	0	0	0	0	0	28.83	26.55	28.83
6208	1.25	219.0	3233	3405	1543	1342	578.3	25.3	252	6214	0.00	2.08	0.00	0.000	1030	0.000	0.030	3244	2004	1442	1543	1342	0	0	0	0	0	0	28.83	26.61	28.83
6528	1.25	219.0	3244	2003	1541	1341	510.0	20.5	268	6535	0.00	2.12	0.00	0.000	516	0.000	0.041	3256	606	1441	1541	1341	0	0	0	0	0	0	28.83	26.58	28.83
6599	1.25	219.0	3256	606	1540	1341	497.0	19.5	271	6606	0.12	2.08	0.00	0.000	5126	0.170	0.031	3223	2005	1440	1540	1341	0	0	0	0	0	0	26.39	26.62	28.83
6920	1.25	219.0	3223	2005	1539	1338	438.4	18.1	287	6925	0.00	2.12	0.00	0.000	516	0.000	0.040	3234	609	1438	1539	1338	0	0	0	0	0	0	28.83	26.60	28.83
6985	1.25	219.0	3234	609	1539	1338	425.1	19.6	290	6992	0.00	2.08	0.00	0.000	1030	0.000	0.032	3234	1998	1438	1539	1338	0	0	0	0	0	0	28.83	26.64	28.83
7310	1.25	219.0	3234	1998	1539	1338	363.4	18.0	306	7316	0.00	2.17	0.00	0.000	260	0.000	0.047	3234	3408	1438	1539	1338	0	0	0	0	0	0	28.83	26.60	28.83
7376	1.25	219.0	3234	3408	1539	1338	350.8	18.7	309	7382	0.00	2.10	0.00	0.000	1030	0.000	0.030	3246	1997	1439	1539	1339	0	0	0	0	0	0	28.83	26.67	28.83
7701	1.25	219.0	3245	1996	1539	1337	291.2	18.0	325	7707	0.00	2.10	0.00	0.000	516	0.000	0.040	3257	608	1437	1538	1337	0	0	0	0	0	0	28.83	26.63	28.83
7799	1.25	219.0	3257	608	1539	1337	274.0	19.2	329	7806	0.12	2.08	0.00	0.000	5126	0.164	0.031	3224	2008	1438	1539	1337	0	0	0	0	0	0	26.44	26.66	28.83
8115	1.25	219.0	3223	2008	1538	1337	220.0	15.4	345	8122	0.00	2.12	0.00	0.000	516	0.000	0.039	3234	606	1438	1539	1337	0	0	0	0	0	0	28.83	26.63	28.83
8222	1.25	219.0	2240	606	1508	1334	205.4	13.4	350	8229	0.00	2.08	0.00	0.000	1030	0.000	0.031	3234	2005	1438	1539	1337	0	0	0	0	0	0	28.83	26.68	28.83
8548	1.25	219.0	3234	2005	1539	1337	167.8	12.0	366	8553	0.00	2.15	0.00	0.000	260	0.000	0.045	3235	3409	1438	1539	1337	0	0	0	0	0	0	28.83	26.63	28.83
8653	1.25	219.0	2224	3408	1507	1333	152.2	15.0	371	8659	0.00	2.08	0.00	0.000	1030	0.000	0.028	3246	1991	1438	1539	1337	0	0	0	0	0	0	28.83	26.70	28.83
8978	1.25	219.0	3246	1990	1539	1337	99.5	16.9	387	8980	0.00	0.00	0.00	0.000	6	0.000	0.000	3246	1990	1438	1540	1337	0	0	0	0	0	0	28.83	28.83	28.83
9278	1.25	219.0	3246	1990	1543	1337	49.7	15.5	402	9283	0.00	2.17	0.00	0.000	260	0.000	0.046	3246	3404	1440	1544	1337	0	0	0	0	0	0	28.83	26.64	28.83
9419	1.25	219.0	3246	3402	1545	1337	28.7	14.3	415	9425	0.12	2.05	0.00	0.000	5126	0.161	0.028	3224	1994	1441	1545	1337	0	0	0	0	0	0	26.48	26.71	28.83
9636	end climb: SURFACE_DEPTH_REACHED
state	9636	begin surface coast
9664	end surface coast: CONTROL_FINISHED_OK
state	9664	begin surface