Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 176 * 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 176 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 58 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 39 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 -20733.98 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 -20733.98

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 58 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 39 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 176 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 230313,063306,2145.842,12342.674,26,1.6,27,-2.9 TGT_NAME N1

_CALLS 2 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 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 230313,064305,2145.844,12342.826,16,1.7,32,-2.9 MHEAD_RNG_PITCHd_Wd 312.1,274272,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 4823

Post-dive calculations and measurements:

FINISH 0.5,1.023090 _10V_AH 10.3,18.744

SM_CCo 9634,81.57,0.059,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.35,7.93,0.77,81.57,0.038,0.048,0.059,132,2492,748,-8.28,-1.44,400.08,0,0,0,0,0,0,26.69,26.65,26.48 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2138.81,12344.62,230313,060621 MEM 329700

TT8_MAMPS 0.048685,0.048685 DATA_FILE_SIZE 16765,454

HUMID 44.88 CAP_FILE_SIZE 256897,0

INTERNAL_PRESSURE 9.63274 CFSIZE 260034560,235089920

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 0.117,182.0,1

SC_FREEKB 3964256 GPS 230313,092635,2146.272,12341.385,12,0.9,29,-2.9

_24V_AH 24.2,26.023

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 218 105.63 nil 0 0 0.00

Roll_motor 90 55 121.06 nil 0 0 0.00

VBD_pump_during_apogee 548 916 12159.96 nil 0 0 0.00

VBD_pump_during_surface 81 58 116.29 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 9615 4 932.59

Iridium_during_xfer 377 123 1132.24 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 27 9.55

TT8 1957 35 724.55

LPSleep 5732 2 129.31

TT8_Active 697 35 258.07

TT8_Sampling 1657 58 996.92

TT8_CF8 267 65 181.67

TT8_Kalman 0 0 0.00

Analog_circuits 1819 15 281.18

GPS_charging 0 0 0.00

Compass 1192 5 73.54

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.25 -219.0 124 2500 836 660 0.0 0.0 0 80 0.00 0.00 -60.22 0.000 16386 0.000 0.000 124 2499 2446 2513 2380 0 0 0 0 0 0 28.83 28.83 28.83

83 -1.25 -219.0 124 2499 2519 2380 3.0 -4.0 8 116 8.85 2.17 -15.62 0.000 18948 0.219 0.045 2410 1094 3276 3348 3205 0 0 0 0 0 0 25.84 26.27 26.57

238 -1.25 -219.0 2409 1093 3349 3207 51.8 -32.2 25 246 0.00 2.15 0.00 0.000 1030 0.000 0.040 2399 2495 3278 3350 3207 0 0 0 0 0 0 28.83 26.32 28.83

544 -1.25 -219.0 2399 2495 3350 3207 166.2 -35.9 41 550 0.00 1.85 0.00 0.000 260 0.000 0.054 2391 3674 3278 3350 3207 0 0 0 0 0 0 28.83 26.43 28.83

664 -1.25 -219.0 2390 3674 3350 3207 202.7 -34.8 46 672 0.00 1.70 0.00 0.000 1030 0.000 0.024 2390 2486 3278 3350 3207 0 0 0 0 0 0 28.83 26.58 28.83

971 -1.25 -219.0 2390 2484 3353 3207 300.0 -31.9 62 972 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2485 3280 3353 3208 0 0 0 0 0 0 28.83 28.83 28.83

1270 -1.25 -219.0 2390 2484 3354 3207 387.5 -27.1 77 1276 0.00 1.85 0.00 0.000 260 0.000 0.054 2381 3677 3280 3354 3207 0 0 0 0 0 0 28.83 26.56 28.83

1316 -1.25 -219.0 2381 3676 3354 3207 400.1 -27.5 79 1324 0.15 1.67 0.00 0.000 3078 0.157 0.024 2422 2491 3280 3354 3207 0 0 0 0 0 0 26.39 26.69 28.83

1643 -1.25 -219.0 2422 2490 3354 3207 481.9 -23.8 95 1649 0.00 1.83 0.00 0.000 260 0.000 0.054 2413 3671 3280 3354 3207 0 0 0 0 0 0 28.83 26.59 28.83

1693 -1.25 -219.0 2413 3671 3355 3207 492.9 -23.8 97 1700 0.00 1.65 0.00 0.000 1030 0.000 0.024 2413 2506 3280 3354 3207 0 0 0 0 0 0 28.83 26.72 28.83

2014 -1.25 -219.0 2413 2505 3354 3207 563.8 -21.0 113 2020 0.00 2.05 0.00 0.000 516 0.000 0.031 2413 1106 3280 3354 3207 0 0 0 0 0 0 28.83 26.67 28.83

2047 -1.25 -219.0 2413 1106 3354 3208 569.2 -21.1 114 2053 0.00 2.12 0.00 0.000 1030 0.000 0.041 2402 2504 3280 3354 3207 0 0 0 0 0 0 28.83 26.62 28.83

2362 -1.25 -219.0 2402 2503 3354 3207 637.6 -20.3 127 2367 0.00 1.80 0.00 0.000 260 0.000 0.054 2393 3671 3280 3354 3207 0 0 0 0 0 0 28.83 26.62 28.83

2415 -1.25 -219.0 2393 3671 3354 3207 645.1 -20.8 128 2421 0.00 1.67 0.00 0.000 1030 0.000 0.024 2394 2489 3280 3354 3207 0 0 0 0 0 0 28.83 26.74 28.83

2730 -1.25 -219.0 2393 2489 3353 3206 717.9 -21.7 139 2737 0.00 2.00 0.00 0.000 516 0.000 0.028 2393 1114 3279 3354 3205 0 0 0 0 0 0 28.83 26.70 28.83

2795 -1.25 -219.0 2393 1114 3354 3205 732.2 -21.7 141 2803 0.12 2.12 0.00 0.000 3078 0.166 0.041 2415 2503 3279 3354 3205 0 0 0 0 0 0 26.46 26.63 28.83

3131 -1.25 -219.0 2415 2503 3355 3201 797.4 -18.4 152 3132 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2503 3277 3354 3200 0 0 0 0 0 0 28.83 28.83 28.83

3431 -1.25 -219.0 2415 2503 3353 3196 852.8 -18.7 162 3437 0.00 1.85 0.00 0.000 260 0.000 0.055 2407 3667 3276 3353 3199 0 0 0 0 0 0 28.83 26.62 28.83

3454 -1.25 -219.0 2407 3666 3354 3196 852.8 -18.7 162 3460 0.00 1.70 0.00 0.000 1030 0.000 0.027 2407 2509 3274 3353 3196 0 0 0 0 0 0 28.83 26.77 28.83

3770 -1.25 -219.0 2407 2508 3353 3190 917.4 -18.9 173 3776 0.00 2.05 0.00 0.000 516 0.000 0.029 2407 1108 3271 3353 3189 0 0 0 0 0 0 28.83 26.70 28.83

3834 -1.25 -219.0 1476 1107 3335 3184 930.0 -18.7 175 3840 0.00 2.12 0.00 0.000 1030 0.000 0.041 2397 2502 3270 3353 3188 0 0 0 0 0 0 28.83 26.63 28.83

4046 end dive: TARGET_DEPTH_EXCEEDED

state 4046 begin apogee

4052 -0.20 0.0 2396 1979 3350 3185 970.4 -18.8 182 4385 1.05 0.00 323.67 0.757 10246 0.121 0.000 2747 1977 2376 2535 2217 0 0 0 0 0 0 26.41 28.83 24.53

4387 end apogee: CONTROL_FINISHED_OK

state 4387 begin climb

4390 1.25 219.0 2747 1977 2531 2210 988.7 0.0 192 4626 1.30 2.20 224.60 0.916 10756 0.051 0.038 3237 628 1476 1577 1376 0 0 0 0 0 0 25.26 24.89 24.19

4715 1.25 219.0 3237 628 1554 1356 941.7 23.3 202 4722 0.00 2.15 0.00 0.000 1030 0.000 0.031 3237 2007 1454 1553 1356 0 0 0 0 0 0 28.83 25.60 28.83

5035 1.25 219.0 3237 2007 1549 1353 860.9 23.5 213 5041 0.00 2.15 0.00 0.000 516 0.000 0.037 3249 625 1450 1550 1351 0 0 0 0 0 0 28.83 26.19 28.83

5101 1.25 219.0 3248 625 1549 1351 845.5 23.6 215 5107 0.00 2.10 0.00 0.000 1030 0.000 0.031 3249 2010 1450 1549 1351 0 0 0 0 0 0 28.83 26.27 28.83

5435 1.25 219.0 3248 2010 1547 1348 764.0 24.6 226 5441 0.00 2.17 0.00 0.000 260 0.000 0.047 3248 3402 1447 1547 1348 0 0 0 0 0 0 28.83 26.40 28.83

5474 1.25 219.0 3248 3402 1547 1348 754.9 24.9 227 5482 0.15 2.05 0.00 0.000 5126 0.176 0.028 3221 2015 1447 1547 1348 0 0 0 0 0 0 26.22 26.48 28.83

5805 1.25 219.0 3221 2013 1546 1345 676.2 23.1 238 5811 0.00 2.12 0.00 0.000 516 0.000 0.040 3233 612 1445 1546 1345 0 0 0 0 0 0 28.83 26.50 28.83

5873 1.25 219.0 3232 612 1545 1345 661.2 23.3 240 5879 0.00 2.08 0.00 0.000 1030 0.000 0.032 3232 2002 1445 1545 1345 0 0 0 0 0 0 28.83 26.54 28.83

6183 1.25 219.0 3232 2002 1544 1343 591.6 21.0 251 6189 0.00 2.17 0.00 0.000 260 0.000 0.046 3232 3408 1443 1544 1343 0 0 0 0 0 0 28.83 26.54 28.83

6284 1.25 219.0 2248 3409 1513 1340 573.7 20.6 255 6292 0.00 2.08 0.00 0.000 1030 0.000 0.029 3244 2005 1443 1543 1343 0 0 0 0 0 0 28.83 26.61 28.83

6590 1.25 219.0 3244 2005 1541 1341 506.4 22.2 271 6596 0.00 2.17 0.00 0.000 260 0.000 0.046 3244 3405 1441 1541 1341 0 0 0 0 0 0 28.83 26.57 28.83

6670 1.25 219.0 3244 3405 1541 1341 490.2 24.1 274 6679 0.12 2.08 0.00 0.000 5126 0.174 0.030 3224 1997 1441 1541 1341 0 0 0 0 0 0 26.39 26.63 28.83

6977 1.25 219.0 3223 1997 1540 1338 426.6 18.5 290 6983 0.00 2.10 0.00 0.000 516 0.000 0.041 3234 612 1439 1540 1339 0 0 0 0 0 0 28.83 26.59 28.83

7016 1.25 219.0 3234 612 1540 1338 422.0 18.2 291 7025 0.00 2.08 0.00 0.000 1030 0.000 0.032 3234 2006 1439 1540 1338 0 0 0 0 0 0 28.83 26.63 28.83

7322 1.25 219.0 3234 2006 1539 1338 361.3 19.4 307 7329 0.00 2.15 0.00 0.000 260 0.000 0.045 3234 3402 1438 1539 1338 0 0 0 0 0 0 28.83 26.60 28.83

7437 1.25 219.0 3234 3402 1539 1338 339.8 20.2 312 7443 0.00 2.08 0.00 0.000 1030 0.000 0.029 3246 1993 1439 1540 1338 0 0 0 0 0 0 28.83 26.67 28.83

7751 1.25 219.0 3246 1993 1539 1337 280.0 18.0 328 7757 0.00 2.17 0.00 0.000 260 0.000 0.045 3246 3402 1437 1538 1337 0 0 0 0 0 0 28.83 26.60 28.83

7812 1.25 219.0 3245 3402 1539 1337 271.4 18.8 330 7821 0.12 2.08 0.00 0.000 5126 0.169 0.028 3225 1989 1438 1539 1337 0 0 0 0 0 0 26.42 26.67 28.83

8118 1.25 219.0 3225 1989 1539 1337 215.0 16.3 346 8124 0.00 2.08 0.00 0.000 516 0.000 0.040 3236 610 1438 1539 1337 0 0 0 0 0 0 28.83 26.62 28.83

8272 1.25 219.0 3236 609 1539 1337 192.7 14.3 353 8279 0.00 2.05 0.00 0.000 1030 0.000 0.031 3236 2002 1438 1539 1337 0 0 0 0 0 0 28.83 26.66 28.83

8588 1.25 219.0 3235 2002 1539 1337 145.6 14.4 369 8594 0.00 2.15 0.00 0.000 260 0.000 0.044 3236 3408 1438 1540 1337 0 0 0 0 0 0 28.83 26.62 28.83

8634 1.25 219.0 3236 3408 1539 1337 138.4 15.0 371 8641 0.00 2.08 0.00 0.000 1030 0.000 0.028 3247 1995 1438 1539 1337 0 0 0 0 0 0 28.83 26.69 28.83

8960 1.25 219.0 3247 1995 1539 1337 88.1 14.7 387 8967 0.00 2.17 0.00 0.000 260 0.000 0.044 3247 3408 1438 1539 1338 0 0 0 0 0 0 28.83 26.62 28.83

8993 1.25 219.0 3247 3408 1539 1337 84.1 14.8 388 9000 0.15 2.05 0.00 0.000 5126 0.157 0.028 3217 2006 1438 1539 1337 0 0 0 0 0 0 26.43 26.70 28.83

9308 1.25 219.0 3217 2006 1541 1337 38.9 13.4 407 9314 0.00 2.15 0.00 0.000 260 0.000 0.045 3217 3402 1439 1541 1337 0 0 0 0 0 0 28.83 26.62 28.83

9495 1.25 219.0 2144 3400 1509 1334 13.5 12.3 432 9503 0.00 2.05 0.00 0.000 1030 0.000 0.028 3228 1990 1440 1543 1337 0 0 0 0 0 0 28.83 26.70 28.83

9586 end climb: SURFACE_DEPTH_REACHED

state 9586 begin surface coast

9615 end surface coast: CONTROL_FINISHED_OK

state 9615 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	176	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	58	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	39	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	-20733.98	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	230313,063306,2145.842,12342.674,26,1.6,27,-2.9	TGT_NAME	N1
_CALLS	2	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	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	230313,064305,2145.844,12342.826,16,1.7,32,-2.9	MHEAD_RNG_PITCHd_Wd	312.1,274272,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	4823

FINISH	0.5,1.023090	_10V_AH	10.3,18.744
SM_CCo	9634,81.57,0.059,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.35,7.93,0.77,81.57,0.038,0.048,0.059,132,2492,748,-8.28,-1.44,400.08,0,0,0,0,0,0,26.69,26.65,26.48	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2138.81,12344.62,230313,060621	MEM	329700
TT8_MAMPS	0.048685,0.048685	DATA_FILE_SIZE	16765,454
HUMID	44.88	CAP_FILE_SIZE	256897,0
INTERNAL_PRESSURE	9.63274	CFSIZE	260034560,235089920
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	0.117,182.0,1
SC_FREEKB	3964256	GPS	230313,092635,2146.272,12341.385,12,0.9,29,-2.9
_24V_AH	24.2,26.023

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	218	105.63	nil	0	0	0.00
Roll_motor	90	55	121.06	nil	0	0	0.00
VBD_pump_during_apogee	548	916	12159.96	nil	0	0	0.00
VBD_pump_during_surface	81	58	116.29	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	9615	4	932.59
Iridium_during_xfer	377	123	1132.24	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	27	9.55
TT8	1957	35	724.55
LPSleep	5732	2	129.31
TT8_Active	697	35	258.07
TT8_Sampling	1657	58	996.92
TT8_CF8	267	65	181.67
TT8_Kalman	0	0	0.00
Analog_circuits	1819	15	281.18
GPS_charging	0	0	0.00
Compass	1192	5	73.54
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.25	-219.0	124	2500	836	660	0.0	0.0	0	80	0.00	0.00	-60.22	0.000	16386	0.000	0.000	124	2499	2446	2513	2380	0	0	0	0	0	0	28.83	28.83	28.83
83	-1.25	-219.0	124	2499	2519	2380	3.0	-4.0	8	116	8.85	2.17	-15.62	0.000	18948	0.219	0.045	2410	1094	3276	3348	3205	0	0	0	0	0	0	25.84	26.27	26.57
238	-1.25	-219.0	2409	1093	3349	3207	51.8	-32.2	25	246	0.00	2.15	0.00	0.000	1030	0.000	0.040	2399	2495	3278	3350	3207	0	0	0	0	0	0	28.83	26.32	28.83
544	-1.25	-219.0	2399	2495	3350	3207	166.2	-35.9	41	550	0.00	1.85	0.00	0.000	260	0.000	0.054	2391	3674	3278	3350	3207	0	0	0	0	0	0	28.83	26.43	28.83
664	-1.25	-219.0	2390	3674	3350	3207	202.7	-34.8	46	672	0.00	1.70	0.00	0.000	1030	0.000	0.024	2390	2486	3278	3350	3207	0	0	0	0	0	0	28.83	26.58	28.83
971	-1.25	-219.0	2390	2484	3353	3207	300.0	-31.9	62	972	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2485	3280	3353	3208	0	0	0	0	0	0	28.83	28.83	28.83
1270	-1.25	-219.0	2390	2484	3354	3207	387.5	-27.1	77	1276	0.00	1.85	0.00	0.000	260	0.000	0.054	2381	3677	3280	3354	3207	0	0	0	0	0	0	28.83	26.56	28.83
1316	-1.25	-219.0	2381	3676	3354	3207	400.1	-27.5	79	1324	0.15	1.67	0.00	0.000	3078	0.157	0.024	2422	2491	3280	3354	3207	0	0	0	0	0	0	26.39	26.69	28.83
1643	-1.25	-219.0	2422	2490	3354	3207	481.9	-23.8	95	1649	0.00	1.83	0.00	0.000	260	0.000	0.054	2413	3671	3280	3354	3207	0	0	0	0	0	0	28.83	26.59	28.83
1693	-1.25	-219.0	2413	3671	3355	3207	492.9	-23.8	97	1700	0.00	1.65	0.00	0.000	1030	0.000	0.024	2413	2506	3280	3354	3207	0	0	0	0	0	0	28.83	26.72	28.83
2014	-1.25	-219.0	2413	2505	3354	3207	563.8	-21.0	113	2020	0.00	2.05	0.00	0.000	516	0.000	0.031	2413	1106	3280	3354	3207	0	0	0	0	0	0	28.83	26.67	28.83
2047	-1.25	-219.0	2413	1106	3354	3208	569.2	-21.1	114	2053	0.00	2.12	0.00	0.000	1030	0.000	0.041	2402	2504	3280	3354	3207	0	0	0	0	0	0	28.83	26.62	28.83
2362	-1.25	-219.0	2402	2503	3354	3207	637.6	-20.3	127	2367	0.00	1.80	0.00	0.000	260	0.000	0.054	2393	3671	3280	3354	3207	0	0	0	0	0	0	28.83	26.62	28.83
2415	-1.25	-219.0	2393	3671	3354	3207	645.1	-20.8	128	2421	0.00	1.67	0.00	0.000	1030	0.000	0.024	2394	2489	3280	3354	3207	0	0	0	0	0	0	28.83	26.74	28.83
2730	-1.25	-219.0	2393	2489	3353	3206	717.9	-21.7	139	2737	0.00	2.00	0.00	0.000	516	0.000	0.028	2393	1114	3279	3354	3205	0	0	0	0	0	0	28.83	26.70	28.83
2795	-1.25	-219.0	2393	1114	3354	3205	732.2	-21.7	141	2803	0.12	2.12	0.00	0.000	3078	0.166	0.041	2415	2503	3279	3354	3205	0	0	0	0	0	0	26.46	26.63	28.83
3131	-1.25	-219.0	2415	2503	3355	3201	797.4	-18.4	152	3132	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2503	3277	3354	3200	0	0	0	0	0	0	28.83	28.83	28.83
3431	-1.25	-219.0	2415	2503	3353	3196	852.8	-18.7	162	3437	0.00	1.85	0.00	0.000	260	0.000	0.055	2407	3667	3276	3353	3199	0	0	0	0	0	0	28.83	26.62	28.83
3454	-1.25	-219.0	2407	3666	3354	3196	852.8	-18.7	162	3460	0.00	1.70	0.00	0.000	1030	0.000	0.027	2407	2509	3274	3353	3196	0	0	0	0	0	0	28.83	26.77	28.83
3770	-1.25	-219.0	2407	2508	3353	3190	917.4	-18.9	173	3776	0.00	2.05	0.00	0.000	516	0.000	0.029	2407	1108	3271	3353	3189	0	0	0	0	0	0	28.83	26.70	28.83
3834	-1.25	-219.0	1476	1107	3335	3184	930.0	-18.7	175	3840	0.00	2.12	0.00	0.000	1030	0.000	0.041	2397	2502	3270	3353	3188	0	0	0	0	0	0	28.83	26.63	28.83
4046	end dive: TARGET_DEPTH_EXCEEDED
state	4046	begin apogee
4052	-0.20	0.0	2396	1979	3350	3185	970.4	-18.8	182	4385	1.05	0.00	323.67	0.757	10246	0.121	0.000	2747	1977	2376	2535	2217	0	0	0	0	0	0	26.41	28.83	24.53
4387	end apogee: CONTROL_FINISHED_OK
state	4387	begin climb
4390	1.25	219.0	2747	1977	2531	2210	988.7	0.0	192	4626	1.30	2.20	224.60	0.916	10756	0.051	0.038	3237	628	1476	1577	1376	0	0	0	0	0	0	25.26	24.89	24.19
4715	1.25	219.0	3237	628	1554	1356	941.7	23.3	202	4722	0.00	2.15	0.00	0.000	1030	0.000	0.031	3237	2007	1454	1553	1356	0	0	0	0	0	0	28.83	25.60	28.83
5035	1.25	219.0	3237	2007	1549	1353	860.9	23.5	213	5041	0.00	2.15	0.00	0.000	516	0.000	0.037	3249	625	1450	1550	1351	0	0	0	0	0	0	28.83	26.19	28.83
5101	1.25	219.0	3248	625	1549	1351	845.5	23.6	215	5107	0.00	2.10	0.00	0.000	1030	0.000	0.031	3249	2010	1450	1549	1351	0	0	0	0	0	0	28.83	26.27	28.83
5435	1.25	219.0	3248	2010	1547	1348	764.0	24.6	226	5441	0.00	2.17	0.00	0.000	260	0.000	0.047	3248	3402	1447	1547	1348	0	0	0	0	0	0	28.83	26.40	28.83
5474	1.25	219.0	3248	3402	1547	1348	754.9	24.9	227	5482	0.15	2.05	0.00	0.000	5126	0.176	0.028	3221	2015	1447	1547	1348	0	0	0	0	0	0	26.22	26.48	28.83
5805	1.25	219.0	3221	2013	1546	1345	676.2	23.1	238	5811	0.00	2.12	0.00	0.000	516	0.000	0.040	3233	612	1445	1546	1345	0	0	0	0	0	0	28.83	26.50	28.83
5873	1.25	219.0	3232	612	1545	1345	661.2	23.3	240	5879	0.00	2.08	0.00	0.000	1030	0.000	0.032	3232	2002	1445	1545	1345	0	0	0	0	0	0	28.83	26.54	28.83
6183	1.25	219.0	3232	2002	1544	1343	591.6	21.0	251	6189	0.00	2.17	0.00	0.000	260	0.000	0.046	3232	3408	1443	1544	1343	0	0	0	0	0	0	28.83	26.54	28.83
6284	1.25	219.0	2248	3409	1513	1340	573.7	20.6	255	6292	0.00	2.08	0.00	0.000	1030	0.000	0.029	3244	2005	1443	1543	1343	0	0	0	0	0	0	28.83	26.61	28.83
6590	1.25	219.0	3244	2005	1541	1341	506.4	22.2	271	6596	0.00	2.17	0.00	0.000	260	0.000	0.046	3244	3405	1441	1541	1341	0	0	0	0	0	0	28.83	26.57	28.83
6670	1.25	219.0	3244	3405	1541	1341	490.2	24.1	274	6679	0.12	2.08	0.00	0.000	5126	0.174	0.030	3224	1997	1441	1541	1341	0	0	0	0	0	0	26.39	26.63	28.83
6977	1.25	219.0	3223	1997	1540	1338	426.6	18.5	290	6983	0.00	2.10	0.00	0.000	516	0.000	0.041	3234	612	1439	1540	1339	0	0	0	0	0	0	28.83	26.59	28.83
7016	1.25	219.0	3234	612	1540	1338	422.0	18.2	291	7025	0.00	2.08	0.00	0.000	1030	0.000	0.032	3234	2006	1439	1540	1338	0	0	0	0	0	0	28.83	26.63	28.83
7322	1.25	219.0	3234	2006	1539	1338	361.3	19.4	307	7329	0.00	2.15	0.00	0.000	260	0.000	0.045	3234	3402	1438	1539	1338	0	0	0	0	0	0	28.83	26.60	28.83
7437	1.25	219.0	3234	3402	1539	1338	339.8	20.2	312	7443	0.00	2.08	0.00	0.000	1030	0.000	0.029	3246	1993	1439	1540	1338	0	0	0	0	0	0	28.83	26.67	28.83
7751	1.25	219.0	3246	1993	1539	1337	280.0	18.0	328	7757	0.00	2.17	0.00	0.000	260	0.000	0.045	3246	3402	1437	1538	1337	0	0	0	0	0	0	28.83	26.60	28.83
7812	1.25	219.0	3245	3402	1539	1337	271.4	18.8	330	7821	0.12	2.08	0.00	0.000	5126	0.169	0.028	3225	1989	1438	1539	1337	0	0	0	0	0	0	26.42	26.67	28.83
8118	1.25	219.0	3225	1989	1539	1337	215.0	16.3	346	8124	0.00	2.08	0.00	0.000	516	0.000	0.040	3236	610	1438	1539	1337	0	0	0	0	0	0	28.83	26.62	28.83
8272	1.25	219.0	3236	609	1539	1337	192.7	14.3	353	8279	0.00	2.05	0.00	0.000	1030	0.000	0.031	3236	2002	1438	1539	1337	0	0	0	0	0	0	28.83	26.66	28.83
8588	1.25	219.0	3235	2002	1539	1337	145.6	14.4	369	8594	0.00	2.15	0.00	0.000	260	0.000	0.044	3236	3408	1438	1540	1337	0	0	0	0	0	0	28.83	26.62	28.83
8634	1.25	219.0	3236	3408	1539	1337	138.4	15.0	371	8641	0.00	2.08	0.00	0.000	1030	0.000	0.028	3247	1995	1438	1539	1337	0	0	0	0	0	0	28.83	26.69	28.83
8960	1.25	219.0	3247	1995	1539	1337	88.1	14.7	387	8967	0.00	2.17	0.00	0.000	260	0.000	0.044	3247	3408	1438	1539	1338	0	0	0	0	0	0	28.83	26.62	28.83
8993	1.25	219.0	3247	3408	1539	1337	84.1	14.8	388	9000	0.15	2.05	0.00	0.000	5126	0.157	0.028	3217	2006	1438	1539	1337	0	0	0	0	0	0	26.43	26.70	28.83
9308	1.25	219.0	3217	2006	1541	1337	38.9	13.4	407	9314	0.00	2.15	0.00	0.000	260	0.000	0.045	3217	3402	1439	1541	1337	0	0	0	0	0	0	28.83	26.62	28.83
9495	1.25	219.0	2144	3400	1509	1334	13.5	12.3	432	9503	0.00	2.05	0.00	0.000	1030	0.000	0.028	3228	1990	1440	1543	1337	0	0	0	0	0	0	28.83	26.70	28.83
9586	end climb: SURFACE_DEPTH_REACHED
state	9586	begin surface coast
9615	end surface coast: CONTROL_FINISHED_OK
state	9615	begin surface