Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 HEADING -1 ROLL_MAX 3764 ALTIM_PING_DEPTH 500

DIVE 18 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 425 R_PORT_OVSHOOT 67 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 51 INT_PRESSURE_YINT 0

T_BOOST 4 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2968 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 330 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -8 T_GPS_CHARGE -968495.81 CF8_MAXERRORS 0 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 200 PITCH_MAX 3944 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2740 PRESSURE_YINT -16.305099 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52251 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 2 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 50 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_TGT 990 PITCH_CNV 0.0031256729 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.305099 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 330

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 5

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -968495.81

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2740 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2968 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -8

DEEPGLIDERMB 0 MASS 52251 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 67 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 51 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 14 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -9.8829851 VBD_MIN 460

DIVE 18 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 0

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 181012,065305,2149.913,12105.794,27,1.1,27,-3.1 TGT_NAME N1

_CALLS 3 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 181012,070753,2150.163,12105.872,41,1.1,41,-3.1 MHEAD_RNG_PITCHd_Wd 4.9,140196,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 777

Post-dive calculations and measurements:

FINISH 0.9,1.022049 _10V_AH 9.6,5.784

SM_CCo 10721,0.00,0.000,0,0,443,619.38 FG_AHR_24Vo 0.000

SM_GC 1.33,7.50,0.15,0.00,0.032,0.068,0.000,111,2246,443,-8.12,-1.67,619.38,0,0,0,0,0,0,26.54,26.59,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2138.81,12049.47,181012,060609 MEM 323760

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 20075,580

HUMID 54.60 CAP_FILE_SIZE 139504,0

INTERNAL_PRESSURE 9.41442 CFSIZE 260165632,247734272

TCM_TEMP 25.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

XPDR_PINGS 6 CURRENT 0.139,221.7,1

ALTIM_BOTTOM_PING 601.1,8.1 GPS 181012,100823,2151.625,12105.424,37,1.1,37,-3.1

_24V_AH 23.8,11.319

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 223 109.78 nil 0 0 0.00

Roll_motor 88 68 142.60 nil 0 0 0.00

VBD_pump_during_apogee 616 1457 21395.90 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 10675 95 24242.63

Iridium_during_xfer 556 128 1703.36 nil 0 0 0.00

Transponder_ping 2 420 24.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 26 10.64

TT8 1765 14 249.36

LPSleep 6913 2 145.36

TT8_Active 681 14 96.23

TT8_Sampling 1986 37 723.47

TT8_CF8 265 44 113.95

TT8_Kalman 0 0 0.00

Analog_circuits 2034 16 312.52

GPS_charging 0 0 0.00

Compass 1316 8 104.17

RAFOS 0 0 0.00

Transponder 9 30 2.62

Guidance and control:

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.47 -195.5 0.0 0.0 0 96 0.00 0.00 -75.30 0.000 2 0.000 0.000 109 2271 2714 0 0 0 0 0 0 28.83 28.83 28.83

99 -0.47 -195.5 3.5 -5.8 13 138 9.55 2.15 -21.50 0.000 4 0.223 0.061 2574 3642 3763 0 0 0 0 0 0 25.70 26.08 26.46

162 -0.43 -195.5 16.2 -20.5 23 168 0.00 2.03 0.00 0.000 6 0.000 0.021 2574 2242 3764 0 0 0 0 0 0 28.83 26.22 28.83

487 -0.37 -195.5 83.2 -21.0 51 492 0.12 2.03 0.00 0.000 4 0.164 0.029 2612 840 3764 0 0 0 0 0 0 26.25 26.41 28.83

514 -0.33 -195.5 88.0 -21.0 52 520 0.00 2.10 0.00 0.000 6 0.000 0.036 2611 2237 3764 0 0 0 0 0 0 28.83 26.38 28.83

834 -0.40 -195.5 119.2 -5.7 68 839 0.00 2.03 0.00 0.000 4 0.000 0.034 2612 859 3764 0 0 0 0 0 0 28.83 26.51 28.83

881 -0.49 -195.5 120.4 -3.4 70 886 0.00 2.05 0.00 0.000 6 0.000 0.033 2612 2251 3764 0 0 0 0 0 0 28.83 26.51 28.83

1199 -0.68 -195.5 144.1 -7.8 86 1205 0.22 2.12 0.00 0.000 4 0.084 0.044 2522 3663 3764 0 0 0 0 0 0 26.54 26.54 28.83

1253 -0.86 -195.5 147.5 -7.4 88 1259 0.17 2.03 0.00 0.000 6 0.070 0.021 2424 2236 3764 0 0 0 0 0 0 26.60 26.65 28.83

1567 -0.80 -195.5 209.7 -19.4 104 1573 0.17 2.00 0.00 0.000 4 0.151 0.033 2478 849 3765 0 0 0 0 0 0 26.43 26.63 28.83

1677 -0.82 -195.5 220.7 -9.1 109 1684 0.00 2.08 0.00 0.000 6 0.000 0.034 2479 2256 3765 0 0 0 0 0 0 28.83 26.63 28.83

1997 -0.83 -195.5 250.0 -8.6 125 2002 0.00 2.10 0.00 0.000 4 0.000 0.047 2478 3656 3765 0 0 0 0 0 0 28.83 26.62 28.83

2140 -0.86 -195.5 263.3 -9.0 132 2146 0.00 2.00 0.00 0.000 6 0.000 0.021 2478 2244 3763 0 0 0 0 0 0 28.83 26.73 28.83

2464 -0.88 -195.5 296.8 -10.3 148 2465 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2244 3762 0 0 0 0 0 0 28.83 28.83 28.83

2765 -0.91 -195.5 336.7 -14.2 163 2771 0.00 2.17 0.00 0.000 4 0.000 0.050 2479 3656 3759 0 0 0 0 0 0 28.83 26.62 28.83

2830 -0.95 -195.5 345.8 -14.1 166 2837 0.12 2.00 0.00 0.000 6 0.080 0.022 2412 2250 3758 0 0 0 0 0 0 26.70 26.74 28.83

3155 -0.92 -195.5 397.5 -13.6 182 3161 0.12 2.05 0.00 0.000 4 0.158 0.033 2451 848 3757 0 0 0 0 0 0 26.55 26.70 28.83

3188 -0.90 -195.5 400.7 -13.5 183 3194 0.00 2.08 -0.08 0.000 6 0.000 0.036 2451 2247 3778 0 0 0 0 0 0 28.83 26.67 25.88

3503 -0.92 -195.5 436.1 -10.8 199 3508 0.00 2.15 0.00 0.000 4 0.000 0.047 2451 3660 3776 0 0 0 0 0 0 28.83 26.64 28.83

3540 -0.93 -195.5 438.6 -10.7 200 3547 0.00 2.03 0.00 0.000 6 0.000 0.021 2451 2213 3775 0 0 0 0 0 0 28.83 26.79 28.83

3847 -0.95 -195.5 471.7 -9.7 216 3852 0.00 2.25 0.00 0.000 4 0.000 0.052 2451 3662 3773 0 0 0 0 0 0 28.83 26.60 28.83

3911 -0.97 -195.5 477.6 -9.4 219 3916 0.00 1.98 0.00 0.000 6 0.000 0.022 2451 2281 3772 0 0 0 0 0 0 28.83 26.75 28.83

4235 -0.99 -195.5 510.6 -10.4 235 4236 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2281 3769 0 0 0 0 0 0 28.83 28.83 28.83

4536 -1.01 -195.5 545.3 -12.0 250 4542 0.12 2.12 0.00 0.000 4 0.086 0.047 2377 3659 3766 0 0 0 0 0 0 26.80 26.62 28.83

4610 -0.99 -195.5 556.3 -15.7 253 4616 0.15 2.03 0.00 0.000 6 0.154 0.021 2417 2213 3766 0 0 0 0 0 0 26.44 26.78 28.83

4886 end dive: BOTTOM_OBSTACLE_DETECTED

state 4886 begin apogee

4892 -0.20 0.0 601.1 -15.8 267 5054 0.73 0.00 155.32 0.920 6 0.117 0.000 2664 2209 2966 0 0 0 0 0 0 26.39 28.83 24.37

5056 end apogee: CONTROL_FINISHED_OK

state 5056 begin climb

5058 0.47 195.5 612.9 0.0 272 5224 0.60 0.00 161.85 0.880 6 0.044 0.000 2903 2208 2170 0 0 0 0 0 0 25.20 28.83 24.25

5514 0.43 209.7 586.2 9.5 290 5525 0.00 2.15 4.43 0.822 4 0.000 0.045 2904 3562 2115 0 0 0 0 0 0 28.83 25.96 25.11

5605 0.38 226.7 578.4 9.4 294 5639 0.17 2.05 18.27 0.964 6 0.154 0.025 2861 2174 2044 0 0 0 0 1 0 25.94 26.14 24.62

5939 0.40 268.5 551.3 8.6 311 5984 0.00 0.00 43.38 0.897 6 0.000 0.000 2861 2172 1873 0 0 0 0 0 0 28.83 28.83 24.75

6279 0.43 364.4 525.0 6.7 328 6372 0.00 2.30 81.60 1.457 4 0.000 0.044 2861 3557 1484 0 0 0 0 1 0 28.83 24.80 23.78

6451 0.47 401.2 512.4 8.7 336 6503 0.00 2.12 35.22 1.248 6 0.000 0.025 2866 2156 1333 0 0 0 0 1 0 28.83 25.65 23.94

6802 0.52 452.3 486.3 8.2 354 6862 0.12 2.38 48.08 1.327 4 0.082 0.043 2937 3560 1122 0 0 0 0 1 0 26.16 24.98 23.94

6896 0.52 452.3 475.2 13.3 358 6901 0.00 2.17 0.00 0.000 6 0.000 0.027 2937 2148 1125 0 0 0 0 0 0 28.83 25.50 28.83

7209 0.50 452.3 426.6 15.0 374 7215 0.12 2.10 0.00 0.000 4 0.158 0.033 2906 741 1124 0 0 0 0 0 0 26.06 26.17 28.83

7233 0.50 452.3 423.4 14.7 375 7239 0.00 2.12 0.00 0.000 6 0.000 0.025 2906 2157 1124 0 0 0 0 0 0 28.83 26.20 28.83

7557 0.52 452.3 382.5 13.5 391 7558 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2161 1123 0 0 0 0 0 0 28.83 28.83 28.83

7860 0.53 452.3 340.1 14.9 406 7866 0.00 2.10 0.00 0.000 4 0.000 0.043 2906 3549 1123 0 0 0 0 0 0 28.83 26.45 28.83

7975 0.55 452.3 323.6 15.5 411 7980 0.00 2.05 0.00 0.000 6 0.000 0.024 2909 2135 1122 0 0 0 0 0 0 28.83 26.55 28.83

8288 0.56 452.3 284.1 10.5 427 8293 0.00 2.17 0.00 0.000 4 0.000 0.043 2908 3554 1122 0 0 0 0 0 0 28.83 26.53 28.83

8327 0.58 452.3 281.6 10.5 428 8333 0.00 2.05 0.00 0.000 6 0.000 0.025 2908 2146 1121 0 0 0 0 0 0 28.83 26.60 28.83

8631 0.60 452.3 246.9 10.6 444 8633 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 2143 1121 0 0 0 0 0 0 28.83 28.83 28.83

8934 0.63 452.3 211.8 12.1 459 8939 0.00 2.15 0.00 0.000 4 0.000 0.043 2909 3558 1120 0 0 0 0 0 0 28.83 26.59 28.83

9048 0.65 452.3 198.8 12.2 464 9054 0.12 2.03 0.00 0.000 6 0.081 0.024 2978 2142 1120 0 0 0 0 0 0 26.64 26.68 28.83

9362 0.63 452.3 152.0 14.3 480 9369 0.12 2.00 0.00 0.000 4 0.136 0.029 2947 759 1120 0 0 0 0 0 0 26.56 26.66 28.83

9381 0.60 452.3 152.0 14.3 480 9388 0.00 2.05 0.00 0.000 6 0.000 0.028 2947 2164 1121 0 0 0 0 0 0 28.83 26.66 28.83

9687 0.66 525.8 118.3 7.5 496 9726 0.00 2.15 29.10 0.421 4 0.000 0.031 2948 763 824 0 0 0 0 0 0 28.83 26.37 25.79

9791 0.77 624.6 111.7 6.6 501 9840 0.12 2.05 39.62 0.401 6 0.078 0.024 3029 2167 459 0 0 0 0 0 0 26.43 26.44 25.53

10153 0.77 624.6 58.6 14.6 519 10159 0.12 2.08 0.00 0.000 4 0.144 0.040 2989 3542 451 0 0 0 0 0 0 26.26 26.33 28.83

10197 0.79 624.6 52.6 14.3 521 10202 0.00 2.03 0.00 0.000 6 0.000 0.021 2989 2135 449 0 0 0 0 0 0 28.83 26.44 28.83

10508 0.90 692.0 21.9 7.7 554 10514 0.12 0.00 0.00 0.000 6 0.078 0.000 3082 2135 446 0 0 0 0 0 0 26.59 28.83 28.83

10627 end climb: SURFACE_DEPTH_REACHED

state 10627 begin surface coast

10643 end surface coast: CONTROL_FINISHED_OK

state 10643 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	HEADING	-1	ROLL_MAX	3764	ALTIM_PING_DEPTH	500
DIVE	18	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	425	R_PORT_OVSHOOT	67	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	51	INT_PRESSURE_YINT	0
T_BOOST	4	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2968	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	330	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-8	T_GPS_CHARGE	-968495.81	CF8_MAXERRORS	0	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	200	PITCH_MAX	3944	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2740	PRESSURE_YINT	-16.305099	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52251	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	2	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	50	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	181012,065305,2149.913,12105.794,27,1.1,27,-3.1	TGT_NAME	N1
_CALLS	3	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	181012,070753,2150.163,12105.872,41,1.1,41,-3.1	MHEAD_RNG_PITCHd_Wd	4.9,140196,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	777

FINISH	0.9,1.022049	_10V_AH	9.6,5.784
SM_CCo	10721,0.00,0.000,0,0,443,619.38	FG_AHR_24Vo	0.000
SM_GC	1.33,7.50,0.15,0.00,0.032,0.068,0.000,111,2246,443,-8.12,-1.67,619.38,0,0,0,0,0,0,26.54,26.59,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2138.81,12049.47,181012,060609	MEM	323760
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	20075,580
HUMID	54.60	CAP_FILE_SIZE	139504,0
INTERNAL_PRESSURE	9.41442	CFSIZE	260165632,247734272
TCM_TEMP	25.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
XPDR_PINGS	6	CURRENT	0.139,221.7,1
ALTIM_BOTTOM_PING	601.1,8.1	GPS	181012,100823,2151.625,12105.424,37,1.1,37,-3.1
_24V_AH	23.8,11.319

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	223	109.78	nil	0	0	0.00
Roll_motor	88	68	142.60	nil	0	0	0.00
VBD_pump_during_apogee	616	1457	21395.90	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	10675	95	24242.63
Iridium_during_xfer	556	128	1703.36	nil	0	0	0.00
Transponder_ping	2	420	24.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	26	10.64
TT8	1765	14	249.36
LPSleep	6913	2	145.36
TT8_Active	681	14	96.23
TT8_Sampling	1986	37	723.47
TT8_CF8	265	44	113.95
TT8_Kalman	0	0	0.00
Analog_circuits	2034	16	312.52
GPS_charging	0	0	0.00
Compass	1316	8	104.17
RAFOS	0	0	0.00
Transponder	9	30	2.62

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.47	-195.5	0.0	0.0	0	96	0.00	0.00	-75.30	0.000	2	0.000	0.000	109	2271	2714	0	0	0	0	0	0	28.83	28.83	28.83
99	-0.47	-195.5	3.5	-5.8	13	138	9.55	2.15	-21.50	0.000	4	0.223	0.061	2574	3642	3763	0	0	0	0	0	0	25.70	26.08	26.46
162	-0.43	-195.5	16.2	-20.5	23	168	0.00	2.03	0.00	0.000	6	0.000	0.021	2574	2242	3764	0	0	0	0	0	0	28.83	26.22	28.83
487	-0.37	-195.5	83.2	-21.0	51	492	0.12	2.03	0.00	0.000	4	0.164	0.029	2612	840	3764	0	0	0	0	0	0	26.25	26.41	28.83
514	-0.33	-195.5	88.0	-21.0	52	520	0.00	2.10	0.00	0.000	6	0.000	0.036	2611	2237	3764	0	0	0	0	0	0	28.83	26.38	28.83
834	-0.40	-195.5	119.2	-5.7	68	839	0.00	2.03	0.00	0.000	4	0.000	0.034	2612	859	3764	0	0	0	0	0	0	28.83	26.51	28.83
881	-0.49	-195.5	120.4	-3.4	70	886	0.00	2.05	0.00	0.000	6	0.000	0.033	2612	2251	3764	0	0	0	0	0	0	28.83	26.51	28.83
1199	-0.68	-195.5	144.1	-7.8	86	1205	0.22	2.12	0.00	0.000	4	0.084	0.044	2522	3663	3764	0	0	0	0	0	0	26.54	26.54	28.83
1253	-0.86	-195.5	147.5	-7.4	88	1259	0.17	2.03	0.00	0.000	6	0.070	0.021	2424	2236	3764	0	0	0	0	0	0	26.60	26.65	28.83
1567	-0.80	-195.5	209.7	-19.4	104	1573	0.17	2.00	0.00	0.000	4	0.151	0.033	2478	849	3765	0	0	0	0	0	0	26.43	26.63	28.83
1677	-0.82	-195.5	220.7	-9.1	109	1684	0.00	2.08	0.00	0.000	6	0.000	0.034	2479	2256	3765	0	0	0	0	0	0	28.83	26.63	28.83
1997	-0.83	-195.5	250.0	-8.6	125	2002	0.00	2.10	0.00	0.000	4	0.000	0.047	2478	3656	3765	0	0	0	0	0	0	28.83	26.62	28.83
2140	-0.86	-195.5	263.3	-9.0	132	2146	0.00	2.00	0.00	0.000	6	0.000	0.021	2478	2244	3763	0	0	0	0	0	0	28.83	26.73	28.83
2464	-0.88	-195.5	296.8	-10.3	148	2465	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2244	3762	0	0	0	0	0	0	28.83	28.83	28.83
2765	-0.91	-195.5	336.7	-14.2	163	2771	0.00	2.17	0.00	0.000	4	0.000	0.050	2479	3656	3759	0	0	0	0	0	0	28.83	26.62	28.83
2830	-0.95	-195.5	345.8	-14.1	166	2837	0.12	2.00	0.00	0.000	6	0.080	0.022	2412	2250	3758	0	0	0	0	0	0	26.70	26.74	28.83
3155	-0.92	-195.5	397.5	-13.6	182	3161	0.12	2.05	0.00	0.000	4	0.158	0.033	2451	848	3757	0	0	0	0	0	0	26.55	26.70	28.83
3188	-0.90	-195.5	400.7	-13.5	183	3194	0.00	2.08	-0.08	0.000	6	0.000	0.036	2451	2247	3778	0	0	0	0	0	0	28.83	26.67	25.88
3503	-0.92	-195.5	436.1	-10.8	199	3508	0.00	2.15	0.00	0.000	4	0.000	0.047	2451	3660	3776	0	0	0	0	0	0	28.83	26.64	28.83
3540	-0.93	-195.5	438.6	-10.7	200	3547	0.00	2.03	0.00	0.000	6	0.000	0.021	2451	2213	3775	0	0	0	0	0	0	28.83	26.79	28.83
3847	-0.95	-195.5	471.7	-9.7	216	3852	0.00	2.25	0.00	0.000	4	0.000	0.052	2451	3662	3773	0	0	0	0	0	0	28.83	26.60	28.83
3911	-0.97	-195.5	477.6	-9.4	219	3916	0.00	1.98	0.00	0.000	6	0.000	0.022	2451	2281	3772	0	0	0	0	0	0	28.83	26.75	28.83
4235	-0.99	-195.5	510.6	-10.4	235	4236	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2281	3769	0	0	0	0	0	0	28.83	28.83	28.83
4536	-1.01	-195.5	545.3	-12.0	250	4542	0.12	2.12	0.00	0.000	4	0.086	0.047	2377	3659	3766	0	0	0	0	0	0	26.80	26.62	28.83
4610	-0.99	-195.5	556.3	-15.7	253	4616	0.15	2.03	0.00	0.000	6	0.154	0.021	2417	2213	3766	0	0	0	0	0	0	26.44	26.78	28.83
4886	end dive: BOTTOM_OBSTACLE_DETECTED
state	4886	begin apogee
4892	-0.20	0.0	601.1	-15.8	267	5054	0.73	0.00	155.32	0.920	6	0.117	0.000	2664	2209	2966	0	0	0	0	0	0	26.39	28.83	24.37
5056	end apogee: CONTROL_FINISHED_OK
state	5056	begin climb
5058	0.47	195.5	612.9	0.0	272	5224	0.60	0.00	161.85	0.880	6	0.044	0.000	2903	2208	2170	0	0	0	0	0	0	25.20	28.83	24.25
5514	0.43	209.7	586.2	9.5	290	5525	0.00	2.15	4.43	0.822	4	0.000	0.045	2904	3562	2115	0	0	0	0	0	0	28.83	25.96	25.11
5605	0.38	226.7	578.4	9.4	294	5639	0.17	2.05	18.27	0.964	6	0.154	0.025	2861	2174	2044	0	0	0	0	1	0	25.94	26.14	24.62
5939	0.40	268.5	551.3	8.6	311	5984	0.00	0.00	43.38	0.897	6	0.000	0.000	2861	2172	1873	0	0	0	0	0	0	28.83	28.83	24.75
6279	0.43	364.4	525.0	6.7	328	6372	0.00	2.30	81.60	1.457	4	0.000	0.044	2861	3557	1484	0	0	0	0	1	0	28.83	24.80	23.78
6451	0.47	401.2	512.4	8.7	336	6503	0.00	2.12	35.22	1.248	6	0.000	0.025	2866	2156	1333	0	0	0	0	1	0	28.83	25.65	23.94
6802	0.52	452.3	486.3	8.2	354	6862	0.12	2.38	48.08	1.327	4	0.082	0.043	2937	3560	1122	0	0	0	0	1	0	26.16	24.98	23.94
6896	0.52	452.3	475.2	13.3	358	6901	0.00	2.17	0.00	0.000	6	0.000	0.027	2937	2148	1125	0	0	0	0	0	0	28.83	25.50	28.83
7209	0.50	452.3	426.6	15.0	374	7215	0.12	2.10	0.00	0.000	4	0.158	0.033	2906	741	1124	0	0	0	0	0	0	26.06	26.17	28.83
7233	0.50	452.3	423.4	14.7	375	7239	0.00	2.12	0.00	0.000	6	0.000	0.025	2906	2157	1124	0	0	0	0	0	0	28.83	26.20	28.83
7557	0.52	452.3	382.5	13.5	391	7558	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2161	1123	0	0	0	0	0	0	28.83	28.83	28.83
7860	0.53	452.3	340.1	14.9	406	7866	0.00	2.10	0.00	0.000	4	0.000	0.043	2906	3549	1123	0	0	0	0	0	0	28.83	26.45	28.83
7975	0.55	452.3	323.6	15.5	411	7980	0.00	2.05	0.00	0.000	6	0.000	0.024	2909	2135	1122	0	0	0	0	0	0	28.83	26.55	28.83
8288	0.56	452.3	284.1	10.5	427	8293	0.00	2.17	0.00	0.000	4	0.000	0.043	2908	3554	1122	0	0	0	0	0	0	28.83	26.53	28.83
8327	0.58	452.3	281.6	10.5	428	8333	0.00	2.05	0.00	0.000	6	0.000	0.025	2908	2146	1121	0	0	0	0	0	0	28.83	26.60	28.83
8631	0.60	452.3	246.9	10.6	444	8633	0.00	0.00	0.00	0.000	6	0.000	0.000	2909	2143	1121	0	0	0	0	0	0	28.83	28.83	28.83
8934	0.63	452.3	211.8	12.1	459	8939	0.00	2.15	0.00	0.000	4	0.000	0.043	2909	3558	1120	0	0	0	0	0	0	28.83	26.59	28.83
9048	0.65	452.3	198.8	12.2	464	9054	0.12	2.03	0.00	0.000	6	0.081	0.024	2978	2142	1120	0	0	0	0	0	0	26.64	26.68	28.83
9362	0.63	452.3	152.0	14.3	480	9369	0.12	2.00	0.00	0.000	4	0.136	0.029	2947	759	1120	0	0	0	0	0	0	26.56	26.66	28.83
9381	0.60	452.3	152.0	14.3	480	9388	0.00	2.05	0.00	0.000	6	0.000	0.028	2947	2164	1121	0	0	0	0	0	0	28.83	26.66	28.83
9687	0.66	525.8	118.3	7.5	496	9726	0.00	2.15	29.10	0.421	4	0.000	0.031	2948	763	824	0	0	0	0	0	0	28.83	26.37	25.79
9791	0.77	624.6	111.7	6.6	501	9840	0.12	2.05	39.62	0.401	6	0.078	0.024	3029	2167	459	0	0	0	0	0	0	26.43	26.44	25.53
10153	0.77	624.6	58.6	14.6	519	10159	0.12	2.08	0.00	0.000	4	0.144	0.040	2989	3542	451	0	0	0	0	0	0	26.26	26.33	28.83
10197	0.79	624.6	52.6	14.3	521	10202	0.00	2.03	0.00	0.000	6	0.000	0.021	2989	2135	449	0	0	0	0	0	0	28.83	26.44	28.83
10508	0.90	692.0	21.9	7.7	554	10514	0.12	0.00	0.00	0.000	6	0.078	0.000	3082	2135	446	0	0	0	0	0	0	26.59	28.83	28.83
10627	end climb: SURFACE_DEPTH_REACHED
state	10627	begin surface coast
10643	end surface coast: CONTROL_FINISHED_OK
state	10643	begin surface