Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 224 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING 280 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 224 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 60 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 -20800.67 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -8 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 0 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 280 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 -20800.67

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 -8

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 60 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 0 SC_XMITPROFILE 3.0 VBD_MIN 415

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.475479 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 224 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 290313,003100,2216.947,12244.345,41,0.8,42,-2.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2218.860,12232.807

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290313,003648,2216.985,12244.303,10,1.1,15,-2.9 MHEAD_RNG_PITCHd_Wd 282.9,20000,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 4657

Post-dive calculations and measurements:

FINISH 0.7,1.022901 _24V_AH 24.1,32.729

SM_CCo 9845,83.00,0.060,0,0,748,400.08 _10V_AH 10.3,22.569

SM_GC 1.26,7.95,0.75,83.00,0.034,0.043,0.060,124,2497,748,-8.30,-1.19,400.08,0,0,0,0,0,0,26.64,26.57,26.39 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2209.02,12243.27,280313,212106 FG_AHR_10Vo 0.000

TT8_MAMPS 0.047187,0.047187 MEM 324116

HUMID 45.23 DATA_FILE_SIZE 16759,470

INTERNAL_PRESSURE 9.63274 CAP_FILE_SIZE 256489,0

TCM_TEMP 23.50 CFSIZE 260034560,230875136

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3948896 GPS 290313,032348,2218.292,12242.740,10,1.6,28,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 218 104.17 nil 0 0 0.00

Roll_motor 79 55 104.93 nil 0 0 0.00

VBD_pump_during_apogee 558 905 12191.94 nil 0 0 0.00

VBD_pump_during_surface 83 60 120.89 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 9813 4 947.63

Iridium_during_xfer 197 124 593.52 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 27 4.69

TT8 1900 35 703.26

LPSleep 5928 2 133.72

TT8_Active 666 35 246.77

TT8_Sampling 1474 58 886.70

TT8_CF8 300 65 203.97

TT8_Kalman 0 0 0.00

Analog_circuits 1617 15 249.87

GPS_charging 0 0 0.00

Compass 1213 5 74.87

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 -219.0 117 2502 830 665 0.0 0.0 0 85 0.00 0.00 -64.72 0.000 16386 0.000 0.000 117 2502 2582 2648 2516 0 0 0 0 0 0 28.83 28.83 28.83

88 -1.25 -219.0 116 2502 2651 2516 3.8 -6.2 9 119 8.88 2.15 -12.00 0.000 18948 0.218 0.044 2408 1095 3278 3346 3210 0 0 0 0 0 0 25.78 26.29 26.60

224 -1.25 -219.0 2408 1094 3350 3210 53.3 -32.8 24 230 0.00 2.15 0.00 0.000 1030 0.000 0.040 2398 2492 3280 3350 3210 0 0 0 0 0 0 28.83 26.27 28.83

543 -1.25 -219.0 2398 2492 3354 3210 160.0 -30.3 40 549 0.00 1.88 0.00 0.000 260 0.000 0.053 2389 3684 3282 3354 3210 0 0 0 0 0 0 28.83 26.38 28.83

781 -1.25 -219.0 2389 3684 3355 3211 232.2 -33.5 51 787 0.12 1.70 0.00 0.000 3078 0.161 0.026 2421 2489 3283 3355 3211 0 0 0 0 0 0 26.26 26.58 28.83

1097 -1.25 -219.0 2421 2489 3356 3211 324.1 -28.8 67 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2488 3283 3356 3211 0 0 0 0 0 0 28.83 28.83 28.83

1396 -1.25 -219.0 2421 2489 3356 3211 395.9 -22.7 82 1397 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2489 3283 3356 3211 0 0 0 0 0 0 28.83 28.83 28.83

1696 -1.25 -219.0 2420 2489 3356 3211 465.3 -23.3 97 1701 0.00 1.85 0.00 0.000 260 0.000 0.053 2412 3679 3282 3356 3209 0 0 0 0 0 0 28.83 26.52 28.83

1796 -1.25 -219.0 2412 3679 3357 3211 487.6 -26.0 101 1804 0.00 1.67 0.00 0.000 1030 0.000 0.025 2412 2493 3284 3357 3211 0 0 0 0 0 0 28.83 26.69 28.83

2102 -1.25 -219.0 2412 2492 3356 3211 563.9 -22.7 117 2108 0.00 2.00 0.00 0.000 516 0.000 0.028 2412 1113 3283 3356 3211 0 0 0 0 0 0 28.83 26.63 28.83

2156 -1.25 -219.0 2412 1112 3357 3210 574.0 -23.0 119 2162 0.00 2.10 0.00 0.000 1030 0.000 0.038 2402 2502 3283 3356 3211 0 0 0 0 0 0 28.83 26.54 28.83

2481 -1.25 -219.0 2401 2502 3356 3210 652.5 -23.5 132 2487 0.00 2.03 0.00 0.000 516 0.000 0.028 2402 1115 3283 3356 3211 0 0 0 0 0 0 28.83 26.63 28.83

2559 -1.25 -219.0 2401 1115 3358 3211 666.9 -22.6 134 2565 0.00 2.12 0.00 0.000 1030 0.000 0.039 2391 2503 3283 3356 3211 0 0 0 0 0 0 28.83 26.54 28.83

2879 -1.25 -219.0 2391 2503 3356 3207 731.3 -18.9 145 2884 0.00 1.83 0.00 0.000 260 0.000 0.054 2382 3678 3281 3356 3207 0 0 0 0 0 0 28.83 26.51 28.83

2931 -1.25 -219.0 2382 3679 3356 3207 738.2 -19.2 146 2938 0.12 1.67 0.00 0.000 3078 0.154 0.026 2415 2501 3281 3356 3206 0 0 0 0 0 0 26.39 26.70 28.83

3246 -1.25 -219.0 2415 2500 3357 3203 803.3 -19.8 157 3247 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2500 3279 3356 3203 0 0 0 0 0 0 28.83 28.83 28.83

3546 -1.25 -219.0 2415 2497 3356 3198 865.1 -21.4 167 3552 0.00 1.85 0.00 0.000 260 0.000 0.055 2407 3677 3277 3356 3198 0 0 0 0 0 0 28.83 26.51 28.83

3604 -1.25 -219.0 2406 3677 3355 3197 872.4 -21.5 168 3612 0.00 1.67 0.00 0.000 1030 0.000 0.027 2405 2504 3276 3356 3197 0 0 0 0 0 0 28.83 26.71 28.83

3912 -1.25 -219.0 2406 2503 3355 3193 939.7 -18.8 179 3918 0.00 2.05 0.00 0.000 516 0.000 0.029 2407 1108 3274 3355 3193 0 0 0 0 0 0 28.83 26.63 28.83

3940 -1.25 -219.0 2406 1109 3355 3192 939.7 -18.8 179 3948 0.00 2.12 0.00 0.000 1030 0.000 0.040 2396 2504 3274 3355 3193 0 0 0 0 0 0 28.83 26.53 28.83

4094 end dive: TARGET_DEPTH_EXCEEDED

state 4094 begin apogee

4100 -0.20 0.0 2396 1994 3354 3191 974.5 -19.1 185 4441 1.08 0.00 329.45 0.762 10246 0.121 0.000 2751 1992 2375 2535 2216 0 0 0 0 0 0 26.23 28.83 24.42

4442 end apogee: CONTROL_FINISHED_OK

state 4442 begin climb

4445 1.25 219.0 2750 1993 2530 2208 989.7 0.0 196 4684 1.27 2.28 229.07 0.906 10756 0.048 0.037 3236 634 1477 1580 1375 0 0 0 0 0 0 25.21 24.80 24.11

4753 1.25 219.0 3236 634 1558 1354 947.6 22.4 205 4761 0.00 2.15 0.00 0.000 1030 0.000 0.030 3236 2010 1455 1557 1353 0 0 0 0 0 0 28.83 25.43 28.83

5059 1.25 219.0 3236 2010 1551 1348 867.2 23.1 216 5061 0.00 0.00 0.00 0.000 6 0.000 0.000 3236 2009 1449 1551 1348 0 0 0 0 0 0 28.83 28.83 28.83

5358 1.25 219.0 3236 2010 1550 1346 799.4 22.5 226 5364 0.00 2.20 0.00 0.000 260 0.000 0.046 3236 3414 1448 1550 1346 0 0 0 0 0 0 28.83 26.30 28.83

5503 1.25 219.0 3236 3415 1548 1346 769.8 23.6 230 5509 0.00 2.08 0.00 0.000 1030 0.000 0.029 3248 2020 1447 1548 1347 0 0 0 0 0 0 28.83 26.41 28.83

5818 1.25 219.0 3247 2021 1547 1344 699.1 21.6 241 5824 0.00 2.17 0.00 0.000 260 0.000 0.047 3248 3409 1445 1547 1344 0 0 0 0 0 0 28.83 26.42 28.83

5957 1.25 219.0 3247 3409 1546 1344 668.3 24.3 245 5964 0.15 2.10 0.00 0.000 5126 0.176 0.030 3221 2004 1445 1546 1344 0 0 0 0 0 0 26.20 26.51 28.83

6268 1.25 219.0 3223 2004 1545 1341 595.2 21.5 256 6273 0.00 2.12 0.00 0.000 516 0.000 0.040 3231 608 1443 1546 1341 0 0 0 0 0 0 28.83 26.49 28.83

6342 1.25 219.0 3231 608 1546 1341 580.8 21.4 259 6348 0.00 2.08 0.00 0.000 1030 0.000 0.031 3231 2004 1444 1546 1342 0 0 0 0 0 0 28.83 26.53 28.83

6657 1.25 219.0 3231 2004 1544 1341 514.9 20.3 275 6663 0.00 2.17 0.00 0.000 260 0.000 0.046 3231 3408 1442 1544 1341 0 0 0 0 0 0 28.83 26.51 28.83

6681 1.25 219.0 3231 3408 1544 1341 509.6 20.5 276 6688 0.00 2.10 0.00 0.000 1030 0.000 0.030 3243 1997 1443 1545 1341 0 0 0 0 0 0 28.83 26.58 28.83

7007 1.25 219.0 3243 1997 1544 1339 441.1 20.5 292 7008 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 1997 1442 1544 1341 0 0 0 0 0 0 28.83 28.83 28.83

7306 1.25 219.0 3242 1997 1542 1339 383.6 17.0 307 7312 0.00 2.20 0.00 0.000 260 0.000 0.047 3243 3405 1440 1542 1339 0 0 0 0 0 0 28.83 26.51 28.83

7333 1.25 219.0 3242 3403 1542 1339 379.3 17.2 308 7340 0.12 2.08 0.00 0.000 5126 0.172 0.030 3223 1998 1440 1542 1339 0 0 0 0 0 0 26.31 26.60 28.83

7655 1.25 219.0 3222 1997 1543 1337 333.3 15.9 324 7661 0.00 2.20 0.00 0.000 260 0.000 0.047 3223 3409 1439 1542 1337 0 0 0 0 0 0 28.83 26.51 28.83

7721 1.25 219.0 3222 3412 1542 1337 320.5 18.3 327 7727 0.00 2.10 0.00 0.000 1030 0.000 0.030 3234 1995 1439 1542 1337 0 0 0 0 0 0 28.83 26.60 28.83

8047 1.25 219.0 3234 1994 1542 1336 254.4 20.6 343 8048 0.00 0.00 0.00 0.000 6 0.000 0.000 3234 1994 1440 1545 1336 0 0 0 0 0 0 28.83 28.83 28.83

8345 1.25 219.0 3234 1994 1542 1336 201.7 15.4 358 8351 0.00 2.10 0.00 0.000 516 0.000 0.039 3245 607 1439 1543 1336 0 0 0 0 0 0 28.83 26.55 28.83

8391 1.25 219.0 3245 607 1542 1336 195.8 14.0 360 8397 0.00 2.08 0.00 0.000 1030 0.000 0.030 3245 2001 1439 1542 1336 0 0 0 0 0 0 28.83 26.60 28.83

8716 1.25 219.0 3245 2001 1542 1336 145.6 15.6 376 8722 0.00 2.15 0.00 0.000 260 0.000 0.045 3245 3402 1439 1542 1336 0 0 0 0 0 0 28.83 26.53 28.83

8852 1.25 219.0 3245 3402 1541 1336 122.8 17.8 382 8859 0.12 2.05 0.00 0.000 5126 0.164 0.027 3223 1992 1439 1543 1336 0 0 0 0 0 0 26.34 26.63 28.83

9168 1.25 219.0 3223 1991 1543 1336 84.4 10.6 398 9174 0.00 2.17 0.00 0.000 260 0.000 0.045 3224 3402 1439 1542 1336 0 0 0 0 0 0 28.83 26.53 28.83

9239 1.25 219.0 3223 3402 1543 1337 74.6 14.1 401 9244 0.00 2.05 0.00 0.000 1030 0.000 0.028 3235 1998 1439 1543 1336 0 0 0 0 0 0 28.83 26.63 28.83

9548 1.25 219.0 3235 1998 1542 1336 32.1 12.3 423 9553 0.00 2.08 0.00 0.000 516 0.000 0.038 3246 612 1439 1543 1336 0 0 0 0 0 0 28.83 26.56 28.83

9587 1.25 219.0 3245 612 1543 1336 28.0 11.9 426 9595 0.00 2.05 0.00 0.000 1030 0.000 0.030 3246 2002 1440 1544 1336 0 0 0 0 0 0 28.83 26.60 28.83

9808 end climb: SURFACE_DEPTH_REACHED

state 9809 begin surface coast

9827 end surface coast: CONTROL_FINISHED_OK

state 9827 begin surface

ID	171	HEADING	280	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	224	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	60	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	-20800.67	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-8	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	0	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	290313,003100,2216.947,12244.345,41,0.8,42,-2.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2218.860,12232.807
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290313,003648,2216.985,12244.303,10,1.1,15,-2.9	MHEAD_RNG_PITCHd_Wd	282.9,20000,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	4657

FINISH	0.7,1.022901	_24V_AH	24.1,32.729
SM_CCo	9845,83.00,0.060,0,0,748,400.08	_10V_AH	10.3,22.569
SM_GC	1.26,7.95,0.75,83.00,0.034,0.043,0.060,124,2497,748,-8.30,-1.19,400.08,0,0,0,0,0,0,26.64,26.57,26.39	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2209.02,12243.27,280313,212106	FG_AHR_10Vo	0.000
TT8_MAMPS	0.047187,0.047187	MEM	324116
HUMID	45.23	DATA_FILE_SIZE	16759,470
INTERNAL_PRESSURE	9.63274	CAP_FILE_SIZE	256489,0
TCM_TEMP	23.50	CFSIZE	260034560,230875136
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3948896	GPS	290313,032348,2218.292,12242.740,10,1.6,28,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	218	104.17	nil	0	0	0.00
Roll_motor	79	55	104.93	nil	0	0	0.00
VBD_pump_during_apogee	558	905	12191.94	nil	0	0	0.00
VBD_pump_during_surface	83	60	120.89	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	9813	4	947.63
Iridium_during_xfer	197	124	593.52	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	27	4.69
TT8	1900	35	703.26
LPSleep	5928	2	133.72
TT8_Active	666	35	246.77
TT8_Sampling	1474	58	886.70
TT8_CF8	300	65	203.97
TT8_Kalman	0	0	0.00
Analog_circuits	1617	15	249.87
GPS_charging	0	0	0.00
Compass	1213	5	74.87
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	117	2502	830	665	0.0	0.0	0	85	0.00	0.00	-64.72	0.000	16386	0.000	0.000	117	2502	2582	2648	2516	0	0	0	0	0	0	28.83	28.83	28.83
88	-1.25	-219.0	116	2502	2651	2516	3.8	-6.2	9	119	8.88	2.15	-12.00	0.000	18948	0.218	0.044	2408	1095	3278	3346	3210	0	0	0	0	0	0	25.78	26.29	26.60
224	-1.25	-219.0	2408	1094	3350	3210	53.3	-32.8	24	230	0.00	2.15	0.00	0.000	1030	0.000	0.040	2398	2492	3280	3350	3210	0	0	0	0	0	0	28.83	26.27	28.83
543	-1.25	-219.0	2398	2492	3354	3210	160.0	-30.3	40	549	0.00	1.88	0.00	0.000	260	0.000	0.053	2389	3684	3282	3354	3210	0	0	0	0	0	0	28.83	26.38	28.83
781	-1.25	-219.0	2389	3684	3355	3211	232.2	-33.5	51	787	0.12	1.70	0.00	0.000	3078	0.161	0.026	2421	2489	3283	3355	3211	0	0	0	0	0	0	26.26	26.58	28.83
1097	-1.25	-219.0	2421	2489	3356	3211	324.1	-28.8	67	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2488	3283	3356	3211	0	0	0	0	0	0	28.83	28.83	28.83
1396	-1.25	-219.0	2421	2489	3356	3211	395.9	-22.7	82	1397	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2489	3283	3356	3211	0	0	0	0	0	0	28.83	28.83	28.83
1696	-1.25	-219.0	2420	2489	3356	3211	465.3	-23.3	97	1701	0.00	1.85	0.00	0.000	260	0.000	0.053	2412	3679	3282	3356	3209	0	0	0	0	0	0	28.83	26.52	28.83
1796	-1.25	-219.0	2412	3679	3357	3211	487.6	-26.0	101	1804	0.00	1.67	0.00	0.000	1030	0.000	0.025	2412	2493	3284	3357	3211	0	0	0	0	0	0	28.83	26.69	28.83
2102	-1.25	-219.0	2412	2492	3356	3211	563.9	-22.7	117	2108	0.00	2.00	0.00	0.000	516	0.000	0.028	2412	1113	3283	3356	3211	0	0	0	0	0	0	28.83	26.63	28.83
2156	-1.25	-219.0	2412	1112	3357	3210	574.0	-23.0	119	2162	0.00	2.10	0.00	0.000	1030	0.000	0.038	2402	2502	3283	3356	3211	0	0	0	0	0	0	28.83	26.54	28.83
2481	-1.25	-219.0	2401	2502	3356	3210	652.5	-23.5	132	2487	0.00	2.03	0.00	0.000	516	0.000	0.028	2402	1115	3283	3356	3211	0	0	0	0	0	0	28.83	26.63	28.83
2559	-1.25	-219.0	2401	1115	3358	3211	666.9	-22.6	134	2565	0.00	2.12	0.00	0.000	1030	0.000	0.039	2391	2503	3283	3356	3211	0	0	0	0	0	0	28.83	26.54	28.83
2879	-1.25	-219.0	2391	2503	3356	3207	731.3	-18.9	145	2884	0.00	1.83	0.00	0.000	260	0.000	0.054	2382	3678	3281	3356	3207	0	0	0	0	0	0	28.83	26.51	28.83
2931	-1.25	-219.0	2382	3679	3356	3207	738.2	-19.2	146	2938	0.12	1.67	0.00	0.000	3078	0.154	0.026	2415	2501	3281	3356	3206	0	0	0	0	0	0	26.39	26.70	28.83
3246	-1.25	-219.0	2415	2500	3357	3203	803.3	-19.8	157	3247	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2500	3279	3356	3203	0	0	0	0	0	0	28.83	28.83	28.83
3546	-1.25	-219.0	2415	2497	3356	3198	865.1	-21.4	167	3552	0.00	1.85	0.00	0.000	260	0.000	0.055	2407	3677	3277	3356	3198	0	0	0	0	0	0	28.83	26.51	28.83
3604	-1.25	-219.0	2406	3677	3355	3197	872.4	-21.5	168	3612	0.00	1.67	0.00	0.000	1030	0.000	0.027	2405	2504	3276	3356	3197	0	0	0	0	0	0	28.83	26.71	28.83
3912	-1.25	-219.0	2406	2503	3355	3193	939.7	-18.8	179	3918	0.00	2.05	0.00	0.000	516	0.000	0.029	2407	1108	3274	3355	3193	0	0	0	0	0	0	28.83	26.63	28.83
3940	-1.25	-219.0	2406	1109	3355	3192	939.7	-18.8	179	3948	0.00	2.12	0.00	0.000	1030	0.000	0.040	2396	2504	3274	3355	3193	0	0	0	0	0	0	28.83	26.53	28.83
4094	end dive: TARGET_DEPTH_EXCEEDED
state	4094	begin apogee
4100	-0.20	0.0	2396	1994	3354	3191	974.5	-19.1	185	4441	1.08	0.00	329.45	0.762	10246	0.121	0.000	2751	1992	2375	2535	2216	0	0	0	0	0	0	26.23	28.83	24.42
4442	end apogee: CONTROL_FINISHED_OK
state	4442	begin climb
4445	1.25	219.0	2750	1993	2530	2208	989.7	0.0	196	4684	1.27	2.28	229.07	0.906	10756	0.048	0.037	3236	634	1477	1580	1375	0	0	0	0	0	0	25.21	24.80	24.11
4753	1.25	219.0	3236	634	1558	1354	947.6	22.4	205	4761	0.00	2.15	0.00	0.000	1030	0.000	0.030	3236	2010	1455	1557	1353	0	0	0	0	0	0	28.83	25.43	28.83
5059	1.25	219.0	3236	2010	1551	1348	867.2	23.1	216	5061	0.00	0.00	0.00	0.000	6	0.000	0.000	3236	2009	1449	1551	1348	0	0	0	0	0	0	28.83	28.83	28.83
5358	1.25	219.0	3236	2010	1550	1346	799.4	22.5	226	5364	0.00	2.20	0.00	0.000	260	0.000	0.046	3236	3414	1448	1550	1346	0	0	0	0	0	0	28.83	26.30	28.83
5503	1.25	219.0	3236	3415	1548	1346	769.8	23.6	230	5509	0.00	2.08	0.00	0.000	1030	0.000	0.029	3248	2020	1447	1548	1347	0	0	0	0	0	0	28.83	26.41	28.83
5818	1.25	219.0	3247	2021	1547	1344	699.1	21.6	241	5824	0.00	2.17	0.00	0.000	260	0.000	0.047	3248	3409	1445	1547	1344	0	0	0	0	0	0	28.83	26.42	28.83
5957	1.25	219.0	3247	3409	1546	1344	668.3	24.3	245	5964	0.15	2.10	0.00	0.000	5126	0.176	0.030	3221	2004	1445	1546	1344	0	0	0	0	0	0	26.20	26.51	28.83
6268	1.25	219.0	3223	2004	1545	1341	595.2	21.5	256	6273	0.00	2.12	0.00	0.000	516	0.000	0.040	3231	608	1443	1546	1341	0	0	0	0	0	0	28.83	26.49	28.83
6342	1.25	219.0	3231	608	1546	1341	580.8	21.4	259	6348	0.00	2.08	0.00	0.000	1030	0.000	0.031	3231	2004	1444	1546	1342	0	0	0	0	0	0	28.83	26.53	28.83
6657	1.25	219.0	3231	2004	1544	1341	514.9	20.3	275	6663	0.00	2.17	0.00	0.000	260	0.000	0.046	3231	3408	1442	1544	1341	0	0	0	0	0	0	28.83	26.51	28.83
6681	1.25	219.0	3231	3408	1544	1341	509.6	20.5	276	6688	0.00	2.10	0.00	0.000	1030	0.000	0.030	3243	1997	1443	1545	1341	0	0	0	0	0	0	28.83	26.58	28.83
7007	1.25	219.0	3243	1997	1544	1339	441.1	20.5	292	7008	0.00	0.00	0.00	0.000	6	0.000	0.000	3243	1997	1442	1544	1341	0	0	0	0	0	0	28.83	28.83	28.83
7306	1.25	219.0	3242	1997	1542	1339	383.6	17.0	307	7312	0.00	2.20	0.00	0.000	260	0.000	0.047	3243	3405	1440	1542	1339	0	0	0	0	0	0	28.83	26.51	28.83
7333	1.25	219.0	3242	3403	1542	1339	379.3	17.2	308	7340	0.12	2.08	0.00	0.000	5126	0.172	0.030	3223	1998	1440	1542	1339	0	0	0	0	0	0	26.31	26.60	28.83
7655	1.25	219.0	3222	1997	1543	1337	333.3	15.9	324	7661	0.00	2.20	0.00	0.000	260	0.000	0.047	3223	3409	1439	1542	1337	0	0	0	0	0	0	28.83	26.51	28.83
7721	1.25	219.0	3222	3412	1542	1337	320.5	18.3	327	7727	0.00	2.10	0.00	0.000	1030	0.000	0.030	3234	1995	1439	1542	1337	0	0	0	0	0	0	28.83	26.60	28.83
8047	1.25	219.0	3234	1994	1542	1336	254.4	20.6	343	8048	0.00	0.00	0.00	0.000	6	0.000	0.000	3234	1994	1440	1545	1336	0	0	0	0	0	0	28.83	28.83	28.83
8345	1.25	219.0	3234	1994	1542	1336	201.7	15.4	358	8351	0.00	2.10	0.00	0.000	516	0.000	0.039	3245	607	1439	1543	1336	0	0	0	0	0	0	28.83	26.55	28.83
8391	1.25	219.0	3245	607	1542	1336	195.8	14.0	360	8397	0.00	2.08	0.00	0.000	1030	0.000	0.030	3245	2001	1439	1542	1336	0	0	0	0	0	0	28.83	26.60	28.83
8716	1.25	219.0	3245	2001	1542	1336	145.6	15.6	376	8722	0.00	2.15	0.00	0.000	260	0.000	0.045	3245	3402	1439	1542	1336	0	0	0	0	0	0	28.83	26.53	28.83
8852	1.25	219.0	3245	3402	1541	1336	122.8	17.8	382	8859	0.12	2.05	0.00	0.000	5126	0.164	0.027	3223	1992	1439	1543	1336	0	0	0	0	0	0	26.34	26.63	28.83
9168	1.25	219.0	3223	1991	1543	1336	84.4	10.6	398	9174	0.00	2.17	0.00	0.000	260	0.000	0.045	3224	3402	1439	1542	1336	0	0	0	0	0	0	28.83	26.53	28.83
9239	1.25	219.0	3223	3402	1543	1337	74.6	14.1	401	9244	0.00	2.05	0.00	0.000	1030	0.000	0.028	3235	1998	1439	1543	1336	0	0	0	0	0	0	28.83	26.63	28.83
9548	1.25	219.0	3235	1998	1542	1336	32.1	12.3	423	9553	0.00	2.08	0.00	0.000	516	0.000	0.038	3246	612	1439	1543	1336	0	0	0	0	0	0	28.83	26.56	28.83
9587	1.25	219.0	3245	612	1543	1336	28.0	11.9	426	9595	0.00	2.05	0.00	0.000	1030	0.000	0.030	3246	2002	1440	1544	1336	0	0	0	0	0	0	28.83	26.60	28.83
9808	end climb: SURFACE_DEPTH_REACHED
state	9809	begin surface coast
9827	end surface coast: CONTROL_FINISHED_OK
state	9827	begin surface