Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 178 * 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 178 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 59 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 -20736.594 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 -20736.594

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 59 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 178 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 230313,121553,2147.422,12340.040,39,1.3,40,-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 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230313,122149,2147.427,12340.037,18,1.3,18,-2.9 MHEAD_RNG_PITCHd_Wd 320.0,268688,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 4708

Post-dive calculations and measurements:

FINISH 0.6,1.010974 _10V_AH 10.3,18.901

SM_CCo 9743,81.65,0.059,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.41,7.93,2.90,81.65,0.034,0.037,0.059,133,2487,748,-8.30,-1.53,400.08,0,0,0,0,0,0,26.68,26.62,26.48 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2138.81,12339.47,230313,090901 MEM 329720

TT8_MAMPS 0.048685,0.048685 DATA_FILE_SIZE 16758,465

HUMID 45.23 CAP_FILE_SIZE 253022,0

INTERNAL_PRESSURE 9.62297 CFSIZE 260034560,234917888

TCM_TEMP 23.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.037, 85.1,1

SC_FREEKB 3963616 GPS 230313,150649,2148.845,12339.060,8,1.6,9,-2.9

_24V_AH 24.2,26.293

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 219 105.47 nil 0 0 0.00

Roll_motor 86 54 114.12 nil 0 0 0.00

VBD_pump_during_apogee 548 912 12123.56 nil 0 0 0.00

VBD_pump_during_surface 81 58 116.39 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 9724 4 948.58

Iridium_during_xfer 207 120 607.90 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 27 5.58

TT8 1950 35 721.91

LPSleep 5809 2 131.05

TT8_Active 691 35 255.78

TT8_Sampling 1461 58 879.12

TT8_CF8 265 65 180.47

TT8_Kalman 0 0 0.00

Analog_circuits 1628 15 251.66

GPS_charging 0 0 0.00

Compass 1177 5 72.66

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 -219.0 115 2497 830 668 0.0 0.0 0 87 0.00 0.00 -66.97 0.000 16386 0.000 0.000 116 2498 2667 2732 2602 0 0 0 0 0 0 28.83 28.83 28.83

90 -1.25 -219.0 116 2498 2733 2602 4.2 -6.8 9 116 8.88 2.17 -10.27 0.000 19204 0.220 0.047 2412 1093 3277 3343 3212 0 0 0 0 0 0 25.89 26.33 26.64

289 -1.25 -219.0 2411 1093 3347 3212 73.6 -31.0 27 296 0.00 2.15 0.00 0.000 1030 0.000 0.040 2405 2497 3279 3347 3212 0 0 0 0 0 0 28.83 26.39 28.83

609 -1.25 -219.0 2401 2497 3349 3212 180.6 -34.2 43 615 0.00 1.85 0.00 0.000 260 0.000 0.054 2393 3661 3280 3349 3212 0 0 0 0 0 0 28.83 26.48 28.83

697 -1.25 -219.0 1456 3660 3331 3207 207.4 -31.8 47 703 0.00 1.73 0.00 0.000 1030 0.000 0.025 2395 2492 3280 3349 3212 0 0 0 0 0 0 28.83 26.60 28.83

1018 -1.25 -219.0 2393 2489 3351 3212 301.6 -29.7 63 1020 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2490 3281 3351 3212 0 0 0 0 0 0 28.83 28.83 28.83

1316 -1.25 -219.0 2393 2490 3352 3212 388.3 -28.7 78 1323 0.00 1.83 0.00 0.000 260 0.000 0.053 2384 3671 3282 3352 3212 0 0 0 0 0 0 28.83 26.58 28.83

1403 -1.25 -219.0 2383 3671 3352 3212 413.6 -29.1 82 1411 0.12 1.67 0.00 0.000 3078 0.163 0.024 2416 2484 3282 3352 3212 0 0 0 0 0 0 26.43 26.70 28.83

1731 -1.25 -219.0 2415 2485 3354 3212 489.8 -21.9 98 1732 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2485 3283 3354 3212 0 0 0 0 0 0 28.83 28.83 28.83

2029 -1.25 -219.0 2415 2485 3355 3212 556.2 -22.6 113 2030 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2485 3283 3355 3212 0 0 0 0 0 0 28.83 28.83 28.83

2349 -1.25 -219.0 2416 2485 3354 3212 623.9 -19.8 127 2355 0.00 1.85 0.00 0.000 260 0.000 0.054 2408 3676 3283 3355 3212 0 0 0 0 0 0 28.83 26.61 28.83

2463 -1.25 -219.0 2407 3676 3354 3212 644.1 -20.7 130 2468 0.00 1.67 0.00 0.000 1030 0.000 0.024 2407 2490 3283 3354 3212 0 0 0 0 0 0 28.83 26.75 28.83

2778 -1.25 -219.0 2407 2489 3354 3210 715.0 -20.6 141 2784 0.00 2.00 0.00 0.000 516 0.000 0.029 2407 1114 3281 3354 3209 0 0 0 0 0 0 28.83 26.70 28.83

2861 -1.25 -219.0 2405 1114 3355 3208 728.3 -20.4 143 2866 0.00 2.10 0.00 0.000 1030 0.000 0.041 2397 2501 3281 3354 3208 0 0 0 0 0 0 28.83 26.63 28.83

3176 -1.25 -219.0 2396 2501 3354 3205 796.5 -20.7 154 3182 0.00 1.80 0.00 0.000 260 0.000 0.054 2388 3671 3279 3354 3204 0 0 0 0 0 0 28.83 26.61 28.83

3228 -1.25 -219.0 2387 3671 3354 3204 804.0 -20.9 155 3236 0.12 1.67 0.00 0.000 3078 0.154 0.026 2422 2495 3278 3354 3203 0 0 0 0 0 0 26.49 26.77 28.83

3544 -1.25 -219.0 2421 2494 3354 3199 867.5 -18.2 166 3550 0.00 1.83 0.00 0.000 260 0.000 0.054 2413 3670 3276 3354 3198 0 0 0 0 0 0 28.83 26.61 28.83

3573 -1.25 -219.0 2413 3670 3354 3198 867.5 -18.2 166 3581 0.00 1.67 0.00 0.000 1030 0.000 0.027 2413 2505 3276 3354 3198 0 0 0 0 0 0 28.83 26.77 28.83

3880 -1.25 -219.0 2413 2505 3354 3193 929.7 -17.9 177 3881 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2505 3273 3354 3193 0 0 0 0 0 0 28.83 28.83 28.83

4117 end dive: TARGET_DEPTH_EXCEEDED

state 4117 begin apogee

4123 -0.20 0.0 2413 1984 3354 3189 971.1 -17.1 185 4457 1.00 0.00 324.05 0.758 10246 0.116 0.000 2751 1983 2374 2533 2215 0 0 0 0 0 0 26.42 28.83 24.53

4459 end apogee: CONTROL_FINISHED_OK

state 4460 begin climb

4462 1.25 219.0 2750 1983 2530 2209 986.5 0.0 195 4699 1.27 2.38 224.88 0.913 10500 0.046 0.046 3227 3409 1475 1575 1375 0 0 0 0 0 0 25.28 24.89 24.19

4716 1.25 219.0 3226 3409 1560 1368 954.7 19.0 204 4723 0.00 2.17 0.00 0.000 1030 0.000 0.026 3239 2017 1461 1559 1363 0 0 0 0 0 0 28.83 25.22 28.83

5041 1.25 219.0 3238 2016 1549 1352 873.0 23.9 215 5047 0.00 2.20 0.00 0.000 516 0.000 0.038 3250 599 1450 1550 1350 0 0 0 0 0 0 28.83 26.12 28.83

5120 1.25 219.0 3250 599 1548 1352 857.7 23.6 217 5126 0.00 2.15 0.00 0.000 1030 0.000 0.031 3250 2018 1450 1548 1352 0 0 0 0 0 0 28.83 26.22 28.83

5439 1.25 219.0 3250 2018 1547 1349 780.1 23.6 228 5445 0.00 2.15 0.00 0.000 260 0.000 0.046 3250 3402 1448 1547 1350 0 0 0 0 0 0 28.83 26.38 28.83

5478 1.25 219.0 3249 3402 1547 1349 771.5 24.2 229 5485 0.15 2.10 0.00 0.000 5126 0.174 0.028 3223 1988 1447 1546 1349 0 0 0 0 0 0 26.20 26.45 28.83

5808 1.25 219.0 3223 1988 1546 1346 696.1 21.7 240 5814 0.00 2.10 0.00 0.000 516 0.000 0.038 3234 607 1445 1545 1346 0 0 0 0 0 0 28.83 26.48 28.83

5912 1.25 219.0 3234 607 1545 1346 676.5 20.7 243 5918 0.00 2.08 0.00 0.000 1030 0.000 0.032 3234 2000 1447 1548 1346 0 0 0 0 0 0 28.83 26.53 28.83

6236 1.25 219.0 3234 2000 1544 1345 605.9 20.8 254 6242 0.00 2.17 0.00 0.000 260 0.000 0.046 3234 3402 1445 1545 1345 0 0 0 0 0 0 28.83 26.53 28.83

6271 1.25 219.0 3234 3402 1544 1345 598.5 20.9 255 6277 0.00 2.08 0.00 0.000 1030 0.000 0.029 3245 1999 1445 1544 1346 0 0 0 0 0 0 28.83 26.60 28.83

6586 1.25 219.0 3245 1998 1541 1343 529.3 21.8 271 6592 0.00 2.17 0.00 0.000 260 0.000 0.046 3246 3401 1441 1541 1342 0 0 0 0 0 0 28.83 26.56 28.83

6635 1.25 219.0 3245 3402 1541 1343 518.1 23.4 273 6642 0.12 2.08 0.00 0.000 5126 0.174 0.029 3226 1995 1442 1541 1343 0 0 0 0 0 0 26.38 26.63 28.83

6957 1.25 219.0 3225 1995 1540 1340 450.3 19.7 289 6963 0.00 2.10 0.00 0.000 516 0.000 0.041 3236 610 1440 1540 1341 0 0 0 0 0 0 28.83 26.59 28.83

6986 1.25 219.0 3236 610 1540 1340 445.0 19.9 290 6992 0.00 2.08 0.00 0.000 1030 0.000 0.031 3236 2006 1440 1540 1340 0 0 0 0 0 0 28.83 26.62 28.83

7307 1.25 219.0 3236 2006 1539 1340 383.1 19.7 306 7312 0.00 2.12 0.00 0.000 516 0.000 0.040 3247 610 1439 1539 1339 0 0 0 0 0 0 28.83 26.60 28.83

7340 1.25 219.0 3247 610 1539 1340 378.2 19.7 307 7346 0.00 2.08 0.00 0.000 1030 0.000 0.031 3247 2009 1439 1539 1339 0 0 0 0 0 0 28.83 26.63 28.83

7654 1.25 219.0 3246 2009 1539 1339 312.6 19.3 323 7660 0.00 2.15 0.00 0.000 516 0.000 0.041 3259 607 1439 1539 1339 0 0 0 0 0 0 28.83 26.60 28.83

7708 1.25 219.0 3256 607 1539 1339 303.9 19.3 325 7715 0.12 2.08 0.00 0.000 5126 0.164 0.031 3225 2003 1439 1539 1339 0 0 0 0 0 0 26.41 26.64 28.83

8025 1.25 219.0 3225 2003 1540 1339 248.7 16.7 341 8031 0.00 2.10 0.00 0.000 516 0.000 0.039 3236 611 1439 1539 1339 0 0 0 0 0 0 28.83 26.61 28.83

8064 1.25 219.0 3236 610 1539 1340 244.2 17.1 342 8073 0.00 2.08 0.00 0.000 1030 0.000 0.031 3236 2005 1440 1539 1341 0 0 0 0 0 0 28.83 26.65 28.83

8371 1.25 219.0 3237 2005 1539 1339 185.9 17.8 358 8377 0.00 2.15 0.00 0.000 260 0.000 0.045 3236 3405 1439 1539 1339 0 0 0 0 0 0 28.83 26.60 28.83

8458 1.25 219.0 3236 3405 1539 1339 170.3 18.0 362 8464 0.00 2.05 0.00 0.000 1030 0.000 0.029 3247 1999 1439 1539 1339 0 0 0 0 0 0 28.83 26.68 28.83

8783 1.25 219.0 3247 2000 1539 1339 124.9 14.2 378 8789 0.00 2.10 0.00 0.000 516 0.000 0.040 3258 610 1439 1539 1339 0 0 0 0 0 0 28.83 26.62 28.83

8873 1.25 219.0 3258 610 1539 1339 111.7 15.2 382 8880 0.12 2.05 0.00 0.000 5126 0.159 0.031 3226 2000 1439 1539 1339 0 0 0 0 0 0 26.44 26.65 28.83

9194 1.25 219.0 3224 2000 1539 1339 66.2 13.8 398 9200 0.00 2.12 0.00 0.000 260 0.000 0.045 3224 3401 1439 1539 1339 0 0 0 0 0 0 28.83 26.62 28.83

9343 1.25 219.0 3224 3401 1540 1339 43.8 14.5 407 9348 0.00 2.05 0.00 0.000 1030 0.000 0.028 3236 1989 1439 1539 1339 0 0 0 0 0 0 28.83 26.70 28.83

9658 1.25 219.0 3235 1988 1541 1339 6.0 9.0 454 9667 0.00 2.08 0.00 0.000 516 0.000 0.039 3247 612 1440 1541 1339 0 0 0 0 0 0 28.83 26.64 28.83

9689 end climb: SURFACE_DEPTH_REACHED

state 9689 begin surface coast

9724 end surface coast: CONTROL_FINISHED_OK

state 9724 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	178	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	59	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	-20736.594	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	230313,121553,2147.422,12340.040,39,1.3,40,-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	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230313,122149,2147.427,12340.037,18,1.3,18,-2.9	MHEAD_RNG_PITCHd_Wd	320.0,268688,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	4708

FINISH	0.6,1.010974	_10V_AH	10.3,18.901
SM_CCo	9743,81.65,0.059,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.41,7.93,2.90,81.65,0.034,0.037,0.059,133,2487,748,-8.30,-1.53,400.08,0,0,0,0,0,0,26.68,26.62,26.48	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2138.81,12339.47,230313,090901	MEM	329720
TT8_MAMPS	0.048685,0.048685	DATA_FILE_SIZE	16758,465
HUMID	45.23	CAP_FILE_SIZE	253022,0
INTERNAL_PRESSURE	9.62297	CFSIZE	260034560,234917888
TCM_TEMP	23.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.037, 85.1,1
SC_FREEKB	3963616	GPS	230313,150649,2148.845,12339.060,8,1.6,9,-2.9
_24V_AH	24.2,26.293

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	219	105.47	nil	0	0	0.00
Roll_motor	86	54	114.12	nil	0	0	0.00
VBD_pump_during_apogee	548	912	12123.56	nil	0	0	0.00
VBD_pump_during_surface	81	58	116.39	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	9724	4	948.58
Iridium_during_xfer	207	120	607.90	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	27	5.58
TT8	1950	35	721.91
LPSleep	5809	2	131.05
TT8_Active	691	35	255.78
TT8_Sampling	1461	58	879.12
TT8_CF8	265	65	180.47
TT8_Kalman	0	0	0.00
Analog_circuits	1628	15	251.66
GPS_charging	0	0	0.00
Compass	1177	5	72.66
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	115	2497	830	668	0.0	0.0	0	87	0.00	0.00	-66.97	0.000	16386	0.000	0.000	116	2498	2667	2732	2602	0	0	0	0	0	0	28.83	28.83	28.83
90	-1.25	-219.0	116	2498	2733	2602	4.2	-6.8	9	116	8.88	2.17	-10.27	0.000	19204	0.220	0.047	2412	1093	3277	3343	3212	0	0	0	0	0	0	25.89	26.33	26.64
289	-1.25	-219.0	2411	1093	3347	3212	73.6	-31.0	27	296	0.00	2.15	0.00	0.000	1030	0.000	0.040	2405	2497	3279	3347	3212	0	0	0	0	0	0	28.83	26.39	28.83
609	-1.25	-219.0	2401	2497	3349	3212	180.6	-34.2	43	615	0.00	1.85	0.00	0.000	260	0.000	0.054	2393	3661	3280	3349	3212	0	0	0	0	0	0	28.83	26.48	28.83
697	-1.25	-219.0	1456	3660	3331	3207	207.4	-31.8	47	703	0.00	1.73	0.00	0.000	1030	0.000	0.025	2395	2492	3280	3349	3212	0	0	0	0	0	0	28.83	26.60	28.83
1018	-1.25	-219.0	2393	2489	3351	3212	301.6	-29.7	63	1020	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2490	3281	3351	3212	0	0	0	0	0	0	28.83	28.83	28.83
1316	-1.25	-219.0	2393	2490	3352	3212	388.3	-28.7	78	1323	0.00	1.83	0.00	0.000	260	0.000	0.053	2384	3671	3282	3352	3212	0	0	0	0	0	0	28.83	26.58	28.83
1403	-1.25	-219.0	2383	3671	3352	3212	413.6	-29.1	82	1411	0.12	1.67	0.00	0.000	3078	0.163	0.024	2416	2484	3282	3352	3212	0	0	0	0	0	0	26.43	26.70	28.83
1731	-1.25	-219.0	2415	2485	3354	3212	489.8	-21.9	98	1732	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2485	3283	3354	3212	0	0	0	0	0	0	28.83	28.83	28.83
2029	-1.25	-219.0	2415	2485	3355	3212	556.2	-22.6	113	2030	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2485	3283	3355	3212	0	0	0	0	0	0	28.83	28.83	28.83
2349	-1.25	-219.0	2416	2485	3354	3212	623.9	-19.8	127	2355	0.00	1.85	0.00	0.000	260	0.000	0.054	2408	3676	3283	3355	3212	0	0	0	0	0	0	28.83	26.61	28.83
2463	-1.25	-219.0	2407	3676	3354	3212	644.1	-20.7	130	2468	0.00	1.67	0.00	0.000	1030	0.000	0.024	2407	2490	3283	3354	3212	0	0	0	0	0	0	28.83	26.75	28.83
2778	-1.25	-219.0	2407	2489	3354	3210	715.0	-20.6	141	2784	0.00	2.00	0.00	0.000	516	0.000	0.029	2407	1114	3281	3354	3209	0	0	0	0	0	0	28.83	26.70	28.83
2861	-1.25	-219.0	2405	1114	3355	3208	728.3	-20.4	143	2866	0.00	2.10	0.00	0.000	1030	0.000	0.041	2397	2501	3281	3354	3208	0	0	0	0	0	0	28.83	26.63	28.83
3176	-1.25	-219.0	2396	2501	3354	3205	796.5	-20.7	154	3182	0.00	1.80	0.00	0.000	260	0.000	0.054	2388	3671	3279	3354	3204	0	0	0	0	0	0	28.83	26.61	28.83
3228	-1.25	-219.0	2387	3671	3354	3204	804.0	-20.9	155	3236	0.12	1.67	0.00	0.000	3078	0.154	0.026	2422	2495	3278	3354	3203	0	0	0	0	0	0	26.49	26.77	28.83
3544	-1.25	-219.0	2421	2494	3354	3199	867.5	-18.2	166	3550	0.00	1.83	0.00	0.000	260	0.000	0.054	2413	3670	3276	3354	3198	0	0	0	0	0	0	28.83	26.61	28.83
3573	-1.25	-219.0	2413	3670	3354	3198	867.5	-18.2	166	3581	0.00	1.67	0.00	0.000	1030	0.000	0.027	2413	2505	3276	3354	3198	0	0	0	0	0	0	28.83	26.77	28.83
3880	-1.25	-219.0	2413	2505	3354	3193	929.7	-17.9	177	3881	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2505	3273	3354	3193	0	0	0	0	0	0	28.83	28.83	28.83
4117	end dive: TARGET_DEPTH_EXCEEDED
state	4117	begin apogee
4123	-0.20	0.0	2413	1984	3354	3189	971.1	-17.1	185	4457	1.00	0.00	324.05	0.758	10246	0.116	0.000	2751	1983	2374	2533	2215	0	0	0	0	0	0	26.42	28.83	24.53
4459	end apogee: CONTROL_FINISHED_OK
state	4460	begin climb
4462	1.25	219.0	2750	1983	2530	2209	986.5	0.0	195	4699	1.27	2.38	224.88	0.913	10500	0.046	0.046	3227	3409	1475	1575	1375	0	0	0	0	0	0	25.28	24.89	24.19
4716	1.25	219.0	3226	3409	1560	1368	954.7	19.0	204	4723	0.00	2.17	0.00	0.000	1030	0.000	0.026	3239	2017	1461	1559	1363	0	0	0	0	0	0	28.83	25.22	28.83
5041	1.25	219.0	3238	2016	1549	1352	873.0	23.9	215	5047	0.00	2.20	0.00	0.000	516	0.000	0.038	3250	599	1450	1550	1350	0	0	0	0	0	0	28.83	26.12	28.83
5120	1.25	219.0	3250	599	1548	1352	857.7	23.6	217	5126	0.00	2.15	0.00	0.000	1030	0.000	0.031	3250	2018	1450	1548	1352	0	0	0	0	0	0	28.83	26.22	28.83
5439	1.25	219.0	3250	2018	1547	1349	780.1	23.6	228	5445	0.00	2.15	0.00	0.000	260	0.000	0.046	3250	3402	1448	1547	1350	0	0	0	0	0	0	28.83	26.38	28.83
5478	1.25	219.0	3249	3402	1547	1349	771.5	24.2	229	5485	0.15	2.10	0.00	0.000	5126	0.174	0.028	3223	1988	1447	1546	1349	0	0	0	0	0	0	26.20	26.45	28.83
5808	1.25	219.0	3223	1988	1546	1346	696.1	21.7	240	5814	0.00	2.10	0.00	0.000	516	0.000	0.038	3234	607	1445	1545	1346	0	0	0	0	0	0	28.83	26.48	28.83
5912	1.25	219.0	3234	607	1545	1346	676.5	20.7	243	5918	0.00	2.08	0.00	0.000	1030	0.000	0.032	3234	2000	1447	1548	1346	0	0	0	0	0	0	28.83	26.53	28.83
6236	1.25	219.0	3234	2000	1544	1345	605.9	20.8	254	6242	0.00	2.17	0.00	0.000	260	0.000	0.046	3234	3402	1445	1545	1345	0	0	0	0	0	0	28.83	26.53	28.83
6271	1.25	219.0	3234	3402	1544	1345	598.5	20.9	255	6277	0.00	2.08	0.00	0.000	1030	0.000	0.029	3245	1999	1445	1544	1346	0	0	0	0	0	0	28.83	26.60	28.83
6586	1.25	219.0	3245	1998	1541	1343	529.3	21.8	271	6592	0.00	2.17	0.00	0.000	260	0.000	0.046	3246	3401	1441	1541	1342	0	0	0	0	0	0	28.83	26.56	28.83
6635	1.25	219.0	3245	3402	1541	1343	518.1	23.4	273	6642	0.12	2.08	0.00	0.000	5126	0.174	0.029	3226	1995	1442	1541	1343	0	0	0	0	0	0	26.38	26.63	28.83
6957	1.25	219.0	3225	1995	1540	1340	450.3	19.7	289	6963	0.00	2.10	0.00	0.000	516	0.000	0.041	3236	610	1440	1540	1341	0	0	0	0	0	0	28.83	26.59	28.83
6986	1.25	219.0	3236	610	1540	1340	445.0	19.9	290	6992	0.00	2.08	0.00	0.000	1030	0.000	0.031	3236	2006	1440	1540	1340	0	0	0	0	0	0	28.83	26.62	28.83
7307	1.25	219.0	3236	2006	1539	1340	383.1	19.7	306	7312	0.00	2.12	0.00	0.000	516	0.000	0.040	3247	610	1439	1539	1339	0	0	0	0	0	0	28.83	26.60	28.83
7340	1.25	219.0	3247	610	1539	1340	378.2	19.7	307	7346	0.00	2.08	0.00	0.000	1030	0.000	0.031	3247	2009	1439	1539	1339	0	0	0	0	0	0	28.83	26.63	28.83
7654	1.25	219.0	3246	2009	1539	1339	312.6	19.3	323	7660	0.00	2.15	0.00	0.000	516	0.000	0.041	3259	607	1439	1539	1339	0	0	0	0	0	0	28.83	26.60	28.83
7708	1.25	219.0	3256	607	1539	1339	303.9	19.3	325	7715	0.12	2.08	0.00	0.000	5126	0.164	0.031	3225	2003	1439	1539	1339	0	0	0	0	0	0	26.41	26.64	28.83
8025	1.25	219.0	3225	2003	1540	1339	248.7	16.7	341	8031	0.00	2.10	0.00	0.000	516	0.000	0.039	3236	611	1439	1539	1339	0	0	0	0	0	0	28.83	26.61	28.83
8064	1.25	219.0	3236	610	1539	1340	244.2	17.1	342	8073	0.00	2.08	0.00	0.000	1030	0.000	0.031	3236	2005	1440	1539	1341	0	0	0	0	0	0	28.83	26.65	28.83
8371	1.25	219.0	3237	2005	1539	1339	185.9	17.8	358	8377	0.00	2.15	0.00	0.000	260	0.000	0.045	3236	3405	1439	1539	1339	0	0	0	0	0	0	28.83	26.60	28.83
8458	1.25	219.0	3236	3405	1539	1339	170.3	18.0	362	8464	0.00	2.05	0.00	0.000	1030	0.000	0.029	3247	1999	1439	1539	1339	0	0	0	0	0	0	28.83	26.68	28.83
8783	1.25	219.0	3247	2000	1539	1339	124.9	14.2	378	8789	0.00	2.10	0.00	0.000	516	0.000	0.040	3258	610	1439	1539	1339	0	0	0	0	0	0	28.83	26.62	28.83
8873	1.25	219.0	3258	610	1539	1339	111.7	15.2	382	8880	0.12	2.05	0.00	0.000	5126	0.159	0.031	3226	2000	1439	1539	1339	0	0	0	0	0	0	26.44	26.65	28.83
9194	1.25	219.0	3224	2000	1539	1339	66.2	13.8	398	9200	0.00	2.12	0.00	0.000	260	0.000	0.045	3224	3401	1439	1539	1339	0	0	0	0	0	0	28.83	26.62	28.83
9343	1.25	219.0	3224	3401	1540	1339	43.8	14.5	407	9348	0.00	2.05	0.00	0.000	1030	0.000	0.028	3236	1989	1439	1539	1339	0	0	0	0	0	0	28.83	26.70	28.83
9658	1.25	219.0	3235	1988	1541	1339	6.0	9.0	454	9667	0.00	2.08	0.00	0.000	516	0.000	0.039	3247	612	1440	1541	1339	0	0	0	0	0	0	28.83	26.64	28.83
9689	end climb: SURFACE_DEPTH_REACHED
state	9689	begin surface coast
9724	end surface coast: CONTROL_FINISHED_OK
state	9724	begin surface