Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 171 * 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 171 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 38 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 -20725.961 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 -20725.961

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 51 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 38 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 171 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 220313,161200,2141.522,12347.423,38,1.1,39,-2.9 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 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220313,161725,2141.547,12347.444,11,1.3,11,-2.9 MHEAD_RNG_PITCHd_Wd 309.7,285160,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 4767

Post-dive calculations and measurements:

FINISH 0.5,1.023168 _10V_AH 10.3,18.339

SM_CCo 9679,82.03,0.059,0,0,747,400.08 FG_AHR_24Vo 0.000

SM_GC 1.35,7.88,0.75,82.03,0.035,0.053,0.059,137,2500,747,-8.28,-1.19,400.08,0,0,0,0,0,0,26.67,26.64,26.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2129.53,12348.48,220313,131300 MEM 329700

TT8_MAMPS 0.047936,0.047936 DATA_FILE_SIZE 16789,455

HUMID 44.84 CAP_FILE_SIZE 251070,0

INTERNAL_PRESSURE 9.63274 CFSIZE 260034560,235528192

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 0.071,138.7,1

SC_FREEKB 3965856 GPS 220313,190153,2142.330,12346.469,40,1.5,41,-2.9

_24V_AH 24.2,25.307

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 224 107.40 nil 0 0 0.00

Roll_motor 80 67 131.68 nil 0 0 0.00

VBD_pump_during_apogee 552 912 12204.73 nil 0 0 0.00

VBD_pump_during_surface 82 58 116.93 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 9661 3 930.98

Iridium_during_xfer 184 123 548.73 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 27 3.80

TT8 1936 35 716.74

LPSleep 5769 2 130.15

TT8_Active 687 35 254.31

TT8_Sampling 1431 58 861.26

TT8_CF8 256 65 174.40

TT8_Kalman 0 0 0.00

Analog_circuits 1605 15 247.99

GPS_charging 0 0 0.00

Compass 1176 5 72.61

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

18 -1.25 -219.0 130 2505 829 667 0.0 0.0 0 82 0.00 0.00 -61.95 0.000 16386 0.000 0.000 130 2506 2474 2547 2401 0 0 0 0 0 0 28.83 28.83 28.83

85 -1.25 -219.0 130 2506 2552 2400 3.2 -4.7 8 118 8.88 1.83 -14.82 0.000 18692 0.224 0.067 2403 3669 3275 3344 3206 0 0 0 0 0 0 25.92 26.28 26.66

126 -1.25 -219.0 2403 3670 3345 3206 18.9 -36.1 13 135 0.00 1.70 0.00 0.000 1030 0.000 0.024 2403 2480 3275 3345 3206 0 0 0 0 0 0 28.83 26.40 28.83

439 -1.25 -219.0 2402 2479 3348 3206 122.2 -32.0 34 445 0.00 2.03 0.00 0.000 516 0.000 0.034 2403 1111 3277 3348 3206 0 0 0 0 0 0 28.83 26.50 28.83

650 -1.25 -219.0 2403 1111 3349 3206 186.7 -31.7 44 656 0.00 2.10 0.00 0.000 1030 0.000 0.042 2392 2488 3277 3349 3206 0 0 0 0 0 0 28.83 26.50 28.83

975 -1.25 -219.0 2392 2488 3351 3206 287.8 -29.6 60 981 0.00 1.85 0.00 0.000 260 0.000 0.057 2383 3678 3279 3352 3206 0 0 0 0 0 0 28.83 26.54 28.83

1111 -1.25 -219.0 2383 3677 3352 3207 324.8 -28.7 66 1118 0.12 1.67 0.00 0.000 3078 0.159 0.024 2415 2498 3279 3352 3206 0 0 0 0 0 0 26.43 26.67 28.83

1427 -1.25 -219.0 2415 2496 3353 3206 412.8 -27.2 82 1433 0.00 2.05 0.00 0.000 516 0.000 0.034 2415 1109 3279 3353 3206 0 0 0 0 0 0 28.83 26.64 28.83

1466 -1.25 -219.0 2415 1109 3353 3206 419.2 -26.5 83 1474 0.00 2.12 0.00 0.000 1030 0.000 0.042 2405 2502 3279 3353 3206 0 0 0 0 0 0 28.83 26.60 28.83

1771 -1.25 -219.0 2405 2502 3354 3206 495.4 -22.2 99 1776 0.00 1.83 0.00 0.000 260 0.000 0.057 2396 3677 3280 3354 3206 0 0 0 0 0 0 28.83 26.60 28.83

1836 -1.25 -219.0 2396 3677 3354 3206 510.5 -23.0 102 1842 0.00 1.73 0.00 0.000 1030 0.000 0.024 2396 2502 3280 3355 3206 0 0 0 0 0 0 28.83 26.73 28.83

2162 -1.25 -219.0 2396 2501 3354 3206 590.0 -23.7 118 2168 0.00 1.83 0.00 0.000 260 0.000 0.057 2387 3673 3280 3355 3206 0 0 0 0 0 0 28.83 26.61 28.83

2252 -1.25 -219.0 1472 3672 3337 3202 606.2 -23.9 121 2261 0.12 1.67 0.00 0.000 3078 0.155 0.024 2421 2492 3280 3354 3206 0 0 0 0 0 0 26.49 26.74 28.83

2561 -1.25 -219.0 2421 2490 3354 3206 669.8 -18.7 132 2566 0.00 1.85 0.00 0.000 260 0.000 0.057 2413 3673 3280 3354 3206 0 0 0 0 0 0 28.83 26.62 28.83

2618 -1.25 -219.0 2412 3673 3354 3206 676.7 -19.1 133 2627 0.00 1.67 0.00 0.000 1030 0.000 0.025 2413 2492 3280 3354 3206 0 0 0 0 0 0 28.83 26.75 28.83

2926 -1.25 -219.0 2413 2490 3354 3203 743.0 -20.7 144 2932 0.00 1.85 0.00 0.000 260 0.000 0.057 2404 3673 3278 3354 3203 0 0 0 0 0 0 28.83 26.62 28.83

2960 -1.25 -219.0 2403 3672 3354 3202 750.4 -21.1 145 2966 0.00 1.67 0.00 0.000 1030 0.000 0.026 2404 2496 3278 3354 3202 0 0 0 0 0 0 28.83 26.76 28.83

3295 -1.25 -219.0 2403 2496 3354 3198 821.9 -20.6 156 3301 0.00 1.85 0.00 0.000 260 0.000 0.057 2395 3674 3275 3354 3197 0 0 0 0 0 0 28.83 26.61 28.83

3363 -1.25 -219.0 2394 3674 3354 3197 835.1 -20.3 158 3369 0.00 1.67 0.00 0.000 1030 0.000 0.026 2395 2495 3275 3354 3197 0 0 0 0 0 0 28.83 26.77 28.83

3693 -1.25 -219.0 2394 2494 3354 3191 901.3 -20.6 169 3698 0.00 1.85 0.00 0.000 260 0.000 0.057 2386 3674 3272 3354 3191 0 0 0 0 0 0 28.83 26.61 28.83

3742 -1.25 -219.0 2386 3674 3350 3191 908.7 -21.0 170 3748 0.12 1.67 0.00 0.000 3078 0.158 0.027 2419 2496 3272 3354 3190 0 0 0 0 0 0 26.48 26.77 28.83

4060 end dive: TARGET_DEPTH_EXCEEDED

state 4060 begin apogee

4065 -0.20 0.0 2419 2010 3353 3185 970.1 -17.1 181 4400 0.98 0.00 324.77 0.761 10246 0.113 0.000 2750 2008 2373 2533 2214 0 0 0 0 0 0 26.45 28.83 24.52

4403 end apogee: CONTROL_FINISHED_OK

state 4403 begin climb

4405 1.25 219.0 2750 2007 2530 2208 987.7 0.0 191 4646 1.27 2.33 227.82 0.913 10756 0.047 0.042 3239 626 1474 1574 1375 0 0 0 0 0 0 25.27 24.89 24.18

4686 1.25 219.0 3239 627 1559 1359 951.1 19.8 200 4692 0.00 2.20 0.00 0.000 1030 0.000 0.034 3238 2008 1458 1558 1359 0 0 0 0 0 0 28.83 25.36 28.83

5020 1.25 219.0 3239 2008 1550 1353 873.1 23.6 211 5026 0.00 2.22 0.00 0.000 260 0.000 0.047 3239 3418 1452 1551 1353 0 0 0 0 0 0 28.83 26.15 28.83

5085 1.25 219.0 3239 3418 1549 1353 856.3 24.8 213 5091 0.00 2.12 0.00 0.000 1030 0.000 0.028 3250 2010 1451 1549 1353 0 0 0 0 0 0 28.83 26.26 28.83

5419 1.25 219.0 3250 2009 1547 1350 770.3 25.4 224 5425 0.00 2.20 0.00 0.000 260 0.000 0.046 3250 3417 1448 1547 1349 0 0 0 0 0 0 28.83 26.40 28.83

5468 1.25 219.0 3250 3417 1547 1350 761.5 25.1 225 5476 0.15 2.12 0.00 0.000 5126 0.174 0.029 3223 1994 1448 1547 1349 0 0 0 0 0 0 26.21 26.46 28.83

5789 1.25 219.0 3223 1993 1542 1346 691.6 20.5 236 5795 0.00 2.22 0.00 0.000 260 0.000 0.047 3224 3417 1446 1546 1347 0 0 0 0 0 0 28.83 26.48 28.83

5863 1.25 219.0 3223 3417 1546 1347 676.9 21.7 238 5869 0.00 2.12 0.00 0.000 1030 0.000 0.030 3235 1994 1446 1546 1347 0 0 0 0 0 0 28.83 26.55 28.83

6188 1.25 219.0 3235 1994 1545 1345 596.5 23.9 249 6193 0.00 2.12 0.00 0.000 516 0.000 0.041 3246 601 1445 1545 1345 0 0 0 0 0 0 28.83 26.54 28.83

6256 1.25 219.0 3246 601 1548 1344 580.8 23.4 252 6262 0.00 2.12 0.00 0.000 1030 0.000 0.033 3246 2017 1444 1544 1344 0 0 0 0 0 0 28.83 26.58 28.83

6581 1.25 219.0 3246 2017 1543 1343 505.1 23.3 268 6587 0.00 2.15 0.00 0.000 260 0.000 0.047 3246 3409 1443 1544 1343 0 0 0 0 0 0 28.83 26.58 28.83

6627 1.25 219.0 3246 3410 1543 1343 494.6 22.7 270 6635 0.12 2.10 0.00 0.000 5126 0.177 0.031 3227 1996 1442 1542 1343 0 0 0 0 0 0 26.38 26.63 28.83

6954 1.25 219.0 3227 1996 1541 1342 437.4 18.2 286 6956 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 1995 1441 1541 1341 0 0 0 0 0 0 28.83 28.83 28.83

7253 1.25 219.0 3227 1996 1541 1340 376.0 18.5 301 7254 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 1996 1440 1541 1340 0 0 0 0 0 0 28.83 28.83 28.83

7553 1.25 219.0 3226 1996 1540 1339 322.7 20.6 316 7559 0.00 2.12 0.00 0.000 516 0.000 0.041 3237 606 1439 1540 1339 0 0 0 0 0 0 28.83 26.61 28.83

7571 1.25 219.0 3237 606 1540 1339 322.7 20.6 316 7580 0.00 2.08 0.00 0.000 1030 0.000 0.032 3237 2006 1439 1540 1339 0 0 0 0 0 0 28.83 26.65 28.83

7877 1.25 219.0 3237 2006 1540 1339 258.9 19.0 332 7884 0.00 2.15 0.00 0.000 260 0.000 0.046 3237 3402 1439 1540 1339 0 0 0 0 0 0 28.83 26.62 28.83

7959 1.25 219.0 3237 3402 1541 1339 245.9 19.3 335 7967 0.00 2.08 0.00 0.000 1030 0.000 0.028 3249 1994 1439 1540 1339 0 0 0 0 0 0 28.83 26.67 28.83

8266 1.25 219.0 3249 1994 1541 1339 195.5 13.2 351 8271 0.00 2.17 0.00 0.000 260 0.000 0.045 3249 3403 1439 1540 1339 0 0 0 0 0 0 28.83 26.62 28.83

8362 1.25 219.0 3249 3403 1541 1339 182.9 14.6 355 8369 0.15 2.08 0.00 0.000 5126 0.164 0.028 3220 1996 1439 1540 1339 0 0 0 0 0 0 26.41 26.68 28.83

8678 1.25 219.0 3220 1996 1541 1339 136.1 15.0 371 8679 0.00 0.00 0.00 0.000 6 0.000 0.000 3220 1996 1440 1541 1339 0 0 0 0 0 0 28.83 28.83 28.83

8978 1.25 219.0 3220 1996 1541 1339 93.9 12.9 386 8979 0.00 0.00 0.00 0.000 6 0.000 0.000 3220 1996 1440 1541 1339 0 0 0 0 0 0 28.83 28.83 28.83

9277 1.25 219.0 3220 1996 1542 1342 52.2 14.5 401 9283 0.00 2.10 0.00 0.000 516 0.000 0.041 3231 609 1440 1543 1338 0 0 0 0 0 0 28.83 26.64 28.83

9435 1.25 219.0 3231 609 1542 1339 29.2 14.3 415 9441 0.00 2.08 0.00 0.000 1030 0.000 0.031 3231 2010 1441 1543 1339 0 0 0 0 0 0 28.83 26.67 28.83

9638 end climb: SURFACE_DEPTH_REACHED

state 9640 begin surface coast

9662 end surface coast: CONTROL_FINISHED_OK

state 9662 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	171	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	38	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	-20725.961	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	220313,161200,2141.522,12347.423,38,1.1,39,-2.9	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	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220313,161725,2141.547,12347.444,11,1.3,11,-2.9	MHEAD_RNG_PITCHd_Wd	309.7,285160,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	4767

FINISH	0.5,1.023168	_10V_AH	10.3,18.339
SM_CCo	9679,82.03,0.059,0,0,747,400.08	FG_AHR_24Vo	0.000
SM_GC	1.35,7.88,0.75,82.03,0.035,0.053,0.059,137,2500,747,-8.28,-1.19,400.08,0,0,0,0,0,0,26.67,26.64,26.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2129.53,12348.48,220313,131300	MEM	329700
TT8_MAMPS	0.047936,0.047936	DATA_FILE_SIZE	16789,455
HUMID	44.84	CAP_FILE_SIZE	251070,0
INTERNAL_PRESSURE	9.63274	CFSIZE	260034560,235528192
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	0.071,138.7,1
SC_FREEKB	3965856	GPS	220313,190153,2142.330,12346.469,40,1.5,41,-2.9
_24V_AH	24.2,25.307

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	224	107.40	nil	0	0	0.00
Roll_motor	80	67	131.68	nil	0	0	0.00
VBD_pump_during_apogee	552	912	12204.73	nil	0	0	0.00
VBD_pump_during_surface	82	58	116.93	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	9661	3	930.98
Iridium_during_xfer	184	123	548.73	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	27	3.80
TT8	1936	35	716.74
LPSleep	5769	2	130.15
TT8_Active	687	35	254.31
TT8_Sampling	1431	58	861.26
TT8_CF8	256	65	174.40
TT8_Kalman	0	0	0.00
Analog_circuits	1605	15	247.99
GPS_charging	0	0	0.00
Compass	1176	5	72.61
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
18	-1.25	-219.0	130	2505	829	667	0.0	0.0	0	82	0.00	0.00	-61.95	0.000	16386	0.000	0.000	130	2506	2474	2547	2401	0	0	0	0	0	0	28.83	28.83	28.83
85	-1.25	-219.0	130	2506	2552	2400	3.2	-4.7	8	118	8.88	1.83	-14.82	0.000	18692	0.224	0.067	2403	3669	3275	3344	3206	0	0	0	0	0	0	25.92	26.28	26.66
126	-1.25	-219.0	2403	3670	3345	3206	18.9	-36.1	13	135	0.00	1.70	0.00	0.000	1030	0.000	0.024	2403	2480	3275	3345	3206	0	0	0	0	0	0	28.83	26.40	28.83
439	-1.25	-219.0	2402	2479	3348	3206	122.2	-32.0	34	445	0.00	2.03	0.00	0.000	516	0.000	0.034	2403	1111	3277	3348	3206	0	0	0	0	0	0	28.83	26.50	28.83
650	-1.25	-219.0	2403	1111	3349	3206	186.7	-31.7	44	656	0.00	2.10	0.00	0.000	1030	0.000	0.042	2392	2488	3277	3349	3206	0	0	0	0	0	0	28.83	26.50	28.83
975	-1.25	-219.0	2392	2488	3351	3206	287.8	-29.6	60	981	0.00	1.85	0.00	0.000	260	0.000	0.057	2383	3678	3279	3352	3206	0	0	0	0	0	0	28.83	26.54	28.83
1111	-1.25	-219.0	2383	3677	3352	3207	324.8	-28.7	66	1118	0.12	1.67	0.00	0.000	3078	0.159	0.024	2415	2498	3279	3352	3206	0	0	0	0	0	0	26.43	26.67	28.83
1427	-1.25	-219.0	2415	2496	3353	3206	412.8	-27.2	82	1433	0.00	2.05	0.00	0.000	516	0.000	0.034	2415	1109	3279	3353	3206	0	0	0	0	0	0	28.83	26.64	28.83
1466	-1.25	-219.0	2415	1109	3353	3206	419.2	-26.5	83	1474	0.00	2.12	0.00	0.000	1030	0.000	0.042	2405	2502	3279	3353	3206	0	0	0	0	0	0	28.83	26.60	28.83
1771	-1.25	-219.0	2405	2502	3354	3206	495.4	-22.2	99	1776	0.00	1.83	0.00	0.000	260	0.000	0.057	2396	3677	3280	3354	3206	0	0	0	0	0	0	28.83	26.60	28.83
1836	-1.25	-219.0	2396	3677	3354	3206	510.5	-23.0	102	1842	0.00	1.73	0.00	0.000	1030	0.000	0.024	2396	2502	3280	3355	3206	0	0	0	0	0	0	28.83	26.73	28.83
2162	-1.25	-219.0	2396	2501	3354	3206	590.0	-23.7	118	2168	0.00	1.83	0.00	0.000	260	0.000	0.057	2387	3673	3280	3355	3206	0	0	0	0	0	0	28.83	26.61	28.83
2252	-1.25	-219.0	1472	3672	3337	3202	606.2	-23.9	121	2261	0.12	1.67	0.00	0.000	3078	0.155	0.024	2421	2492	3280	3354	3206	0	0	0	0	0	0	26.49	26.74	28.83
2561	-1.25	-219.0	2421	2490	3354	3206	669.8	-18.7	132	2566	0.00	1.85	0.00	0.000	260	0.000	0.057	2413	3673	3280	3354	3206	0	0	0	0	0	0	28.83	26.62	28.83
2618	-1.25	-219.0	2412	3673	3354	3206	676.7	-19.1	133	2627	0.00	1.67	0.00	0.000	1030	0.000	0.025	2413	2492	3280	3354	3206	0	0	0	0	0	0	28.83	26.75	28.83
2926	-1.25	-219.0	2413	2490	3354	3203	743.0	-20.7	144	2932	0.00	1.85	0.00	0.000	260	0.000	0.057	2404	3673	3278	3354	3203	0	0	0	0	0	0	28.83	26.62	28.83
2960	-1.25	-219.0	2403	3672	3354	3202	750.4	-21.1	145	2966	0.00	1.67	0.00	0.000	1030	0.000	0.026	2404	2496	3278	3354	3202	0	0	0	0	0	0	28.83	26.76	28.83
3295	-1.25	-219.0	2403	2496	3354	3198	821.9	-20.6	156	3301	0.00	1.85	0.00	0.000	260	0.000	0.057	2395	3674	3275	3354	3197	0	0	0	0	0	0	28.83	26.61	28.83
3363	-1.25	-219.0	2394	3674	3354	3197	835.1	-20.3	158	3369	0.00	1.67	0.00	0.000	1030	0.000	0.026	2395	2495	3275	3354	3197	0	0	0	0	0	0	28.83	26.77	28.83
3693	-1.25	-219.0	2394	2494	3354	3191	901.3	-20.6	169	3698	0.00	1.85	0.00	0.000	260	0.000	0.057	2386	3674	3272	3354	3191	0	0	0	0	0	0	28.83	26.61	28.83
3742	-1.25	-219.0	2386	3674	3350	3191	908.7	-21.0	170	3748	0.12	1.67	0.00	0.000	3078	0.158	0.027	2419	2496	3272	3354	3190	0	0	0	0	0	0	26.48	26.77	28.83
4060	end dive: TARGET_DEPTH_EXCEEDED
state	4060	begin apogee
4065	-0.20	0.0	2419	2010	3353	3185	970.1	-17.1	181	4400	0.98	0.00	324.77	0.761	10246	0.113	0.000	2750	2008	2373	2533	2214	0	0	0	0	0	0	26.45	28.83	24.52
4403	end apogee: CONTROL_FINISHED_OK
state	4403	begin climb
4405	1.25	219.0	2750	2007	2530	2208	987.7	0.0	191	4646	1.27	2.33	227.82	0.913	10756	0.047	0.042	3239	626	1474	1574	1375	0	0	0	0	0	0	25.27	24.89	24.18
4686	1.25	219.0	3239	627	1559	1359	951.1	19.8	200	4692	0.00	2.20	0.00	0.000	1030	0.000	0.034	3238	2008	1458	1558	1359	0	0	0	0	0	0	28.83	25.36	28.83
5020	1.25	219.0	3239	2008	1550	1353	873.1	23.6	211	5026	0.00	2.22	0.00	0.000	260	0.000	0.047	3239	3418	1452	1551	1353	0	0	0	0	0	0	28.83	26.15	28.83
5085	1.25	219.0	3239	3418	1549	1353	856.3	24.8	213	5091	0.00	2.12	0.00	0.000	1030	0.000	0.028	3250	2010	1451	1549	1353	0	0	0	0	0	0	28.83	26.26	28.83
5419	1.25	219.0	3250	2009	1547	1350	770.3	25.4	224	5425	0.00	2.20	0.00	0.000	260	0.000	0.046	3250	3417	1448	1547	1349	0	0	0	0	0	0	28.83	26.40	28.83
5468	1.25	219.0	3250	3417	1547	1350	761.5	25.1	225	5476	0.15	2.12	0.00	0.000	5126	0.174	0.029	3223	1994	1448	1547	1349	0	0	0	0	0	0	26.21	26.46	28.83
5789	1.25	219.0	3223	1993	1542	1346	691.6	20.5	236	5795	0.00	2.22	0.00	0.000	260	0.000	0.047	3224	3417	1446	1546	1347	0	0	0	0	0	0	28.83	26.48	28.83
5863	1.25	219.0	3223	3417	1546	1347	676.9	21.7	238	5869	0.00	2.12	0.00	0.000	1030	0.000	0.030	3235	1994	1446	1546	1347	0	0	0	0	0	0	28.83	26.55	28.83
6188	1.25	219.0	3235	1994	1545	1345	596.5	23.9	249	6193	0.00	2.12	0.00	0.000	516	0.000	0.041	3246	601	1445	1545	1345	0	0	0	0	0	0	28.83	26.54	28.83
6256	1.25	219.0	3246	601	1548	1344	580.8	23.4	252	6262	0.00	2.12	0.00	0.000	1030	0.000	0.033	3246	2017	1444	1544	1344	0	0	0	0	0	0	28.83	26.58	28.83
6581	1.25	219.0	3246	2017	1543	1343	505.1	23.3	268	6587	0.00	2.15	0.00	0.000	260	0.000	0.047	3246	3409	1443	1544	1343	0	0	0	0	0	0	28.83	26.58	28.83
6627	1.25	219.0	3246	3410	1543	1343	494.6	22.7	270	6635	0.12	2.10	0.00	0.000	5126	0.177	0.031	3227	1996	1442	1542	1343	0	0	0	0	0	0	26.38	26.63	28.83
6954	1.25	219.0	3227	1996	1541	1342	437.4	18.2	286	6956	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	1995	1441	1541	1341	0	0	0	0	0	0	28.83	28.83	28.83
7253	1.25	219.0	3227	1996	1541	1340	376.0	18.5	301	7254	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	1996	1440	1541	1340	0	0	0	0	0	0	28.83	28.83	28.83
7553	1.25	219.0	3226	1996	1540	1339	322.7	20.6	316	7559	0.00	2.12	0.00	0.000	516	0.000	0.041	3237	606	1439	1540	1339	0	0	0	0	0	0	28.83	26.61	28.83
7571	1.25	219.0	3237	606	1540	1339	322.7	20.6	316	7580	0.00	2.08	0.00	0.000	1030	0.000	0.032	3237	2006	1439	1540	1339	0	0	0	0	0	0	28.83	26.65	28.83
7877	1.25	219.0	3237	2006	1540	1339	258.9	19.0	332	7884	0.00	2.15	0.00	0.000	260	0.000	0.046	3237	3402	1439	1540	1339	0	0	0	0	0	0	28.83	26.62	28.83
7959	1.25	219.0	3237	3402	1541	1339	245.9	19.3	335	7967	0.00	2.08	0.00	0.000	1030	0.000	0.028	3249	1994	1439	1540	1339	0	0	0	0	0	0	28.83	26.67	28.83
8266	1.25	219.0	3249	1994	1541	1339	195.5	13.2	351	8271	0.00	2.17	0.00	0.000	260	0.000	0.045	3249	3403	1439	1540	1339	0	0	0	0	0	0	28.83	26.62	28.83
8362	1.25	219.0	3249	3403	1541	1339	182.9	14.6	355	8369	0.15	2.08	0.00	0.000	5126	0.164	0.028	3220	1996	1439	1540	1339	0	0	0	0	0	0	26.41	26.68	28.83
8678	1.25	219.0	3220	1996	1541	1339	136.1	15.0	371	8679	0.00	0.00	0.00	0.000	6	0.000	0.000	3220	1996	1440	1541	1339	0	0	0	0	0	0	28.83	28.83	28.83
8978	1.25	219.0	3220	1996	1541	1339	93.9	12.9	386	8979	0.00	0.00	0.00	0.000	6	0.000	0.000	3220	1996	1440	1541	1339	0	0	0	0	0	0	28.83	28.83	28.83
9277	1.25	219.0	3220	1996	1542	1342	52.2	14.5	401	9283	0.00	2.10	0.00	0.000	516	0.000	0.041	3231	609	1440	1543	1338	0	0	0	0	0	0	28.83	26.64	28.83
9435	1.25	219.0	3231	609	1542	1339	29.2	14.3	415	9441	0.00	2.08	0.00	0.000	1030	0.000	0.031	3231	2010	1441	1543	1339	0	0	0	0	0	0	28.83	26.67	28.83
9638	end climb: SURFACE_DEPTH_REACHED
state	9640	begin surface coast
9662	end surface coast: CONTROL_FINISHED_OK
state	9662	begin surface