Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 230 * 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 230 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 69 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 34 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 -20808.207 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 -20808.207

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 69 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 34 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 230 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 290313,175013,2224.343,12234.725,15,1.7,16,-2.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2226.226,12223.264

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290313,175653,2224.351,12234.770,28,1.0,45,-2.9 MHEAD_RNG_PITCHd_Wd 282.9,20000,-12.0,-8.739,-16.47,3810

SPEED_LIMITS 0.151,0.296 D_GRID 4909

Post-dive calculations and measurements:

FINISH 0.7,1.022229 _24V_AH 24.3,33.565

SM_CCo 10023,68.30,0.060,0,0,748,400.08 _10V_AH 10.2,23.050

SM_GC 1.27,7.97,0.75,68.30,0.032,0.050,0.060,138,2485,748,-8.28,-1.44,400.08,0,0,0,0,0,0,26.39,26.33,26.24 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2213.68,12234.17,290313,141421 FG_AHR_10Vo 0.000

TT8_MAMPS 0.048685,0.048685 MEM 324116

HUMID 44.56 DATA_FILE_SIZE 16836,481

INTERNAL_PRESSURE 9.66204 CAP_FILE_SIZE 259815,0

TCM_TEMP 23.90 CFSIZE 260034560,230342656

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

SC_FREEKB 3946976 GPS 290313,204700,2225.311,12232.665,50,1.7,51,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 218 105.43 nil 0 0 0.00

Roll_motor 82 67 134.96 nil 0 0 0.00

VBD_pump_during_apogee 712 758 13140.44 nil 0 0 0.00

VBD_pump_during_surface 68 59 99.03 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 9994 4 996.43

Iridium_during_xfer 216 123 646.99 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 46 27 13.14

TT8 1864 35 683.28

LPSleep 6014 2 134.36

TT8_Active 767 35 281.43

TT8_Sampling 1525 58 909.00

TT8_CF8 311 65 209.47

TT8_Kalman 0 0 0.00

Analog_circuits 1765 15 270.06

GPS_charging 0 0 0.00

Compass 1221 5 74.62

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 -219.0 119 2501 840 666 0.0 0.0 0 78 0.00 0.00 -58.05 0.000 16386 0.000 0.000 120 2502 2399 2445 2353 0 0 0 0 0 0 28.83 28.83 28.83

81 -1.25 -219.0 120 2502 2450 2353 3.5 -5.6 8 112 8.90 1.90 -14.93 0.000 18692 0.218 0.067 2404 3671 3278 3350 3206 0 0 0 0 0 0 25.77 26.20 26.60

335 -1.25 -219.0 2404 3671 3355 3206 89.3 -33.3 29 343 0.00 1.67 0.00 0.000 1030 0.000 0.024 2404 2499 3280 3355 3206 0 0 0 0 0 0 28.83 26.45 28.83

642 -1.25 -219.0 2404 2497 3358 3206 189.4 -30.4 45 643 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2497 3281 3357 3206 0 0 0 0 0 0 28.83 28.83 28.83

942 -1.25 -219.0 2404 2497 3358 3207 274.4 -28.2 60 948 0.00 1.83 0.00 0.000 260 0.000 0.054 2395 3670 3282 3358 3207 0 0 0 0 0 0 28.83 26.44 28.83

997 -1.25 -219.0 2393 3669 3358 3207 287.6 -28.5 62 1003 0.00 1.67 0.00 0.000 1030 0.000 0.024 2395 2491 3283 3358 3208 0 0 0 0 0 0 28.83 26.61 28.83

1311 -1.25 -219.0 2395 2490 3358 3207 376.1 -26.3 78 1317 0.00 2.03 0.00 0.000 516 0.000 0.030 2395 1101 3283 3358 3208 0 0 0 0 0 0 28.83 26.58 28.83

1386 -1.25 -219.0 2395 1101 3358 3208 393.2 -26.5 81 1393 0.12 2.12 0.00 0.000 3078 0.168 0.038 2416 2498 3283 3358 3208 0 0 0 0 0 0 26.29 26.51 28.83

1703 -1.25 -219.0 2416 2498 3362 3208 468.4 -22.9 97 1704 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2498 3283 3358 3208 0 0 0 0 0 0 28.83 28.83 28.83

2002 -1.25 -219.0 2417 2498 3358 3208 534.7 -21.8 112 2008 0.00 1.83 0.00 0.000 260 0.000 0.054 2408 3677 3282 3358 3207 0 0 0 0 0 0 28.83 26.51 28.83

2041 -1.25 -219.0 2408 3677 3358 3208 540.0 -21.6 113 2049 0.00 1.67 0.00 0.000 1030 0.000 0.024 2408 2490 3283 3358 3208 0 0 0 0 0 0 28.83 26.68 28.83

2367 -1.25 -219.0 2408 2489 3358 3207 614.4 -20.9 129 2373 0.00 2.00 0.00 0.000 516 0.000 0.028 2408 1110 3282 3358 3207 0 0 0 0 0 0 28.83 26.63 28.83

2405 -1.25 -219.0 2408 1112 3358 3207 621.9 -21.1 130 2411 0.00 2.12 0.00 0.000 1030 0.000 0.039 2397 2507 3283 3358 3208 0 0 0 0 0 0 28.83 26.54 28.83

2735 -1.25 -219.0 2397 2507 3358 3204 694.7 -21.6 141 2740 0.00 1.80 0.00 0.000 260 0.000 0.055 2389 3672 3281 3358 3204 0 0 0 0 0 0 28.83 26.51 28.83

2823 -1.25 -219.0 2388 3672 3358 3203 708.2 -21.2 143 2831 0.12 1.67 0.00 0.000 3078 0.147 0.026 2422 2490 3280 3358 3203 0 0 0 0 0 0 26.40 26.70 28.83

3131 -1.25 -219.0 2422 2489 3357 3198 765.0 -16.5 154 3136 0.00 2.00 0.00 0.000 516 0.000 0.028 2423 1117 3278 3358 3198 0 0 0 0 0 0 28.83 26.63 28.83

3195 -1.25 -219.0 2422 1117 3358 3197 775.4 -15.9 156 3200 0.00 2.12 0.00 0.000 1030 0.000 0.039 2413 2510 3277 3358 3197 0 0 0 0 0 0 28.83 26.53 28.83

3529 -1.25 -219.0 2412 2510 3357 3192 831.0 -16.9 167 3535 0.00 2.05 0.00 0.000 516 0.000 0.029 2413 1118 3274 3357 3192 0 0 0 0 0 0 28.83 26.62 28.83

3563 -1.25 -219.0 2412 1118 3357 3191 836.8 -16.9 168 3569 0.00 2.12 0.00 0.000 1030 0.000 0.041 2402 2504 3274 3357 3191 0 0 0 0 0 0 28.83 26.52 28.83

3897 -1.25 -219.0 2402 2505 3355 3188 898.1 -18.5 179 3903 0.00 1.83 0.00 0.000 260 0.000 0.055 2391 3674 3271 3355 3187 0 0 0 0 0 0 28.83 26.48 28.83

3981 -1.25 -219.0 2392 3674 3354 3187 910.2 -18.6 181 3987 0.00 1.67 0.00 0.000 1030 0.000 0.028 2393 2500 3270 3353 3187 0 0 0 0 0 0 28.83 26.70 28.83

4295 end dive: TARGET_DEPTH_EXCEEDED

state 4295 begin apogee

4301 -0.20 0.0 2391 1994 3351 3184 973.8 -19.1 192 4642 1.08 0.00 331.73 0.759 10246 0.119 0.000 2749 1993 2378 2537 2219 0 0 0 0 0 0 26.21 28.83 24.39

4644 end apogee: CONTROL_FINISHED_OK

state 4644 begin climb

4646 1.25 219.0 2749 1993 2530 2208 994.5 0.0 203 4975 1.30 2.38 317.40 0.756 11012 0.049 0.047 3231 3415 1480 1583 1377 0 0 0 0 0 0 25.19 24.92 24.28

5026 1.25 219.0 3230 3415 1566 1364 937.9 23.9 216 5032 0.00 2.17 0.00 0.000 1030 0.000 0.028 3242 2016 1464 1565 1363 0 0 0 0 0 0 28.83 25.43 28.83

5356 1.25 219.0 3242 2016 1557 1354 852.5 25.0 227 5362 0.00 2.22 0.00 0.000 260 0.000 0.047 3242 3416 1455 1557 1354 0 0 0 0 0 0 28.83 26.12 28.83

5395 1.25 219.0 3241 3416 1557 1354 843.5 25.0 228 5401 0.12 2.15 0.00 0.000 5126 0.179 0.028 3223 1990 1454 1554 1354 0 0 0 0 0 0 25.96 26.21 28.83

5724 1.25 219.0 3223 1988 1554 1350 765.9 22.6 239 5730 0.00 2.12 0.00 0.000 516 0.000 0.038 3234 602 1452 1553 1351 0 0 0 0 0 0 28.83 26.34 28.83

5790 1.25 219.0 3234 602 1553 1351 751.1 22.7 241 5796 0.00 2.12 0.00 0.000 1030 0.000 0.032 3234 2013 1451 1553 1350 0 0 0 0 0 0 28.83 26.39 28.83

6124 1.25 219.0 3234 2012 1550 1349 677.1 21.1 252 6125 0.00 0.00 0.00 0.000 6 0.000 0.000 3234 2012 1451 1553 1349 0 0 0 0 0 0 28.83 28.83 28.83

6424 1.25 219.0 3234 2012 1552 1347 612.3 22.1 262 6430 0.00 2.17 0.00 0.000 260 0.000 0.047 3233 3405 1449 1551 1347 0 0 0 0 0 0 28.83 26.45 28.83

6492 1.25 219.0 3234 3405 1552 1347 597.5 22.3 264 6498 0.00 2.10 0.00 0.000 1030 0.000 0.030 3245 1994 1449 1551 1347 0 0 0 0 0 0 28.83 26.54 28.83

6813 1.25 219.0 3246 1994 1550 1345 525.7 22.4 280 6819 0.00 2.12 0.00 0.000 516 0.000 0.040 3257 604 1447 1550 1345 0 0 0 0 0 0 28.83 26.50 28.83

6872 1.25 219.0 3256 604 1550 1345 515.2 22.7 282 6881 0.12 2.10 0.00 0.000 5126 0.174 0.031 3225 2004 1447 1550 1345 0 0 0 0 0 0 26.27 26.54 28.83

7180 1.25 219.0 3225 2004 1550 1344 447.9 21.2 298 7185 0.00 2.17 0.00 0.000 260 0.000 0.046 3225 3408 1447 1550 1344 0 0 0 0 0 0 28.83 26.50 28.83

7254 1.25 219.0 3224 3408 1549 1344 433.0 22.0 301 7260 0.00 2.10 0.00 0.000 1030 0.000 0.030 3236 1993 1446 1549 1344 0 0 0 0 0 0 28.83 26.58 28.83

7569 1.25 219.0 3235 1992 1548 1342 368.1 18.3 317 7570 0.00 0.00 0.00 0.000 6 0.000 0.000 3236 1992 1445 1548 1342 0 0 0 0 0 0 28.83 28.83 28.83

7869 1.25 219.0 3236 1992 1547 1341 311.3 19.9 332 7870 0.00 0.00 0.00 0.000 6 0.000 0.000 3236 1992 1444 1547 1341 0 0 0 0 0 0 28.83 28.83 28.83

8169 1.25 219.0 3235 1992 1545 1341 254.7 18.5 347 8174 0.00 2.10 0.00 0.000 516 0.000 0.040 3247 607 1444 1547 1341 0 0 0 0 0 0 28.83 26.53 28.83

8186 1.25 219.0 3247 608 1547 1341 254.7 18.5 347 8194 0.00 2.08 0.00 0.000 1030 0.000 0.031 3247 2006 1444 1548 1341 0 0 0 0 0 0 28.83 26.58 28.83

8493 1.25 219.0 3247 2006 1547 1341 194.8 17.0 363 8499 0.00 2.15 0.00 0.000 260 0.000 0.045 3247 3403 1444 1547 1341 0 0 0 0 0 0 28.83 26.51 28.83

8526 1.25 219.0 3246 3403 1548 1341 190.6 16.5 364 8532 0.15 2.08 0.00 0.000 5126 0.165 0.028 3218 1991 1444 1548 1341 0 0 0 0 0 0 26.26 26.60 28.83

8842 1.25 219.0 3218 1990 1547 1341 144.2 13.0 380 8849 0.00 2.20 0.00 0.000 260 0.000 0.046 3218 3403 1444 1548 1341 0 0 0 0 0 0 28.83 26.51 28.83

8912 1.25 219.0 3218 3403 1547 1341 133.5 15.4 383 8918 0.00 2.05 0.00 0.000 1030 0.000 0.028 3229 2000 1445 1548 1342 0 0 0 0 0 0 28.83 26.62 28.83

9232 1.25 219.0 3229 1999 1551 1342 82.8 14.4 399 9238 0.00 2.10 0.00 0.000 516 0.000 0.040 3241 611 1444 1548 1341 0 0 0 0 0 0 28.83 26.53 28.83

9260 1.25 219.0 3240 610 1547 1341 79.4 14.0 400 9266 0.00 2.05 0.00 0.000 1030 0.000 0.030 3240 2000 1444 1548 1341 0 0 0 0 0 0 28.83 26.59 28.83

9570 1.32 241.6 3240 2000 1548 1341 43.1 8.1 419 9613 0.00 2.10 35.95 0.360 8708 0.000 0.036 3251 609 1392 1500 1284 0 0 0 0 0 0 28.83 26.36 25.88

9735 1.38 257.6 3251 609 1483 1275 29.0 8.3 434 9773 0.00 2.08 27.50 0.352 9222 0.000 0.029 3251 2002 1325 1434 1216 0 0 0 0 0 0 28.83 26.42 25.75

9982 end climb: SURFACE_DEPTH_REACHED

state 9982 begin surface coast

10005 end surface coast: CONTROL_FINISHED_OK

state 10005 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	230	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	69	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	34	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	-20808.207	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	290313,175013,2224.343,12234.725,15,1.7,16,-2.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2226.226,12223.264
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290313,175653,2224.351,12234.770,28,1.0,45,-2.9	MHEAD_RNG_PITCHd_Wd	282.9,20000,-12.0,-8.739,-16.47,3810
SPEED_LIMITS	0.151,0.296	D_GRID	4909

FINISH	0.7,1.022229	_24V_AH	24.3,33.565
SM_CCo	10023,68.30,0.060,0,0,748,400.08	_10V_AH	10.2,23.050
SM_GC	1.27,7.97,0.75,68.30,0.032,0.050,0.060,138,2485,748,-8.28,-1.44,400.08,0,0,0,0,0,0,26.39,26.33,26.24	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2213.68,12234.17,290313,141421	FG_AHR_10Vo	0.000
TT8_MAMPS	0.048685,0.048685	MEM	324116
HUMID	44.56	DATA_FILE_SIZE	16836,481
INTERNAL_PRESSURE	9.66204	CAP_FILE_SIZE	259815,0
TCM_TEMP	23.90	CFSIZE	260034560,230342656
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3946976	GPS	290313,204700,2225.311,12232.665,50,1.7,51,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	218	105.43	nil	0	0	0.00
Roll_motor	82	67	134.96	nil	0	0	0.00
VBD_pump_during_apogee	712	758	13140.44	nil	0	0	0.00
VBD_pump_during_surface	68	59	99.03	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	9994	4	996.43
Iridium_during_xfer	216	123	646.99	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	46	27	13.14
TT8	1864	35	683.28
LPSleep	6014	2	134.36
TT8_Active	767	35	281.43
TT8_Sampling	1525	58	909.00
TT8_CF8	311	65	209.47
TT8_Kalman	0	0	0.00
Analog_circuits	1765	15	270.06
GPS_charging	0	0	0.00
Compass	1221	5	74.62
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	119	2501	840	666	0.0	0.0	0	78	0.00	0.00	-58.05	0.000	16386	0.000	0.000	120	2502	2399	2445	2353	0	0	0	0	0	0	28.83	28.83	28.83
81	-1.25	-219.0	120	2502	2450	2353	3.5	-5.6	8	112	8.90	1.90	-14.93	0.000	18692	0.218	0.067	2404	3671	3278	3350	3206	0	0	0	0	0	0	25.77	26.20	26.60
335	-1.25	-219.0	2404	3671	3355	3206	89.3	-33.3	29	343	0.00	1.67	0.00	0.000	1030	0.000	0.024	2404	2499	3280	3355	3206	0	0	0	0	0	0	28.83	26.45	28.83
642	-1.25	-219.0	2404	2497	3358	3206	189.4	-30.4	45	643	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2497	3281	3357	3206	0	0	0	0	0	0	28.83	28.83	28.83
942	-1.25	-219.0	2404	2497	3358	3207	274.4	-28.2	60	948	0.00	1.83	0.00	0.000	260	0.000	0.054	2395	3670	3282	3358	3207	0	0	0	0	0	0	28.83	26.44	28.83
997	-1.25	-219.0	2393	3669	3358	3207	287.6	-28.5	62	1003	0.00	1.67	0.00	0.000	1030	0.000	0.024	2395	2491	3283	3358	3208	0	0	0	0	0	0	28.83	26.61	28.83
1311	-1.25	-219.0	2395	2490	3358	3207	376.1	-26.3	78	1317	0.00	2.03	0.00	0.000	516	0.000	0.030	2395	1101	3283	3358	3208	0	0	0	0	0	0	28.83	26.58	28.83
1386	-1.25	-219.0	2395	1101	3358	3208	393.2	-26.5	81	1393	0.12	2.12	0.00	0.000	3078	0.168	0.038	2416	2498	3283	3358	3208	0	0	0	0	0	0	26.29	26.51	28.83
1703	-1.25	-219.0	2416	2498	3362	3208	468.4	-22.9	97	1704	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2498	3283	3358	3208	0	0	0	0	0	0	28.83	28.83	28.83
2002	-1.25	-219.0	2417	2498	3358	3208	534.7	-21.8	112	2008	0.00	1.83	0.00	0.000	260	0.000	0.054	2408	3677	3282	3358	3207	0	0	0	0	0	0	28.83	26.51	28.83
2041	-1.25	-219.0	2408	3677	3358	3208	540.0	-21.6	113	2049	0.00	1.67	0.00	0.000	1030	0.000	0.024	2408	2490	3283	3358	3208	0	0	0	0	0	0	28.83	26.68	28.83
2367	-1.25	-219.0	2408	2489	3358	3207	614.4	-20.9	129	2373	0.00	2.00	0.00	0.000	516	0.000	0.028	2408	1110	3282	3358	3207	0	0	0	0	0	0	28.83	26.63	28.83
2405	-1.25	-219.0	2408	1112	3358	3207	621.9	-21.1	130	2411	0.00	2.12	0.00	0.000	1030	0.000	0.039	2397	2507	3283	3358	3208	0	0	0	0	0	0	28.83	26.54	28.83
2735	-1.25	-219.0	2397	2507	3358	3204	694.7	-21.6	141	2740	0.00	1.80	0.00	0.000	260	0.000	0.055	2389	3672	3281	3358	3204	0	0	0	0	0	0	28.83	26.51	28.83
2823	-1.25	-219.0	2388	3672	3358	3203	708.2	-21.2	143	2831	0.12	1.67	0.00	0.000	3078	0.147	0.026	2422	2490	3280	3358	3203	0	0	0	0	0	0	26.40	26.70	28.83
3131	-1.25	-219.0	2422	2489	3357	3198	765.0	-16.5	154	3136	0.00	2.00	0.00	0.000	516	0.000	0.028	2423	1117	3278	3358	3198	0	0	0	0	0	0	28.83	26.63	28.83
3195	-1.25	-219.0	2422	1117	3358	3197	775.4	-15.9	156	3200	0.00	2.12	0.00	0.000	1030	0.000	0.039	2413	2510	3277	3358	3197	0	0	0	0	0	0	28.83	26.53	28.83
3529	-1.25	-219.0	2412	2510	3357	3192	831.0	-16.9	167	3535	0.00	2.05	0.00	0.000	516	0.000	0.029	2413	1118	3274	3357	3192	0	0	0	0	0	0	28.83	26.62	28.83
3563	-1.25	-219.0	2412	1118	3357	3191	836.8	-16.9	168	3569	0.00	2.12	0.00	0.000	1030	0.000	0.041	2402	2504	3274	3357	3191	0	0	0	0	0	0	28.83	26.52	28.83
3897	-1.25	-219.0	2402	2505	3355	3188	898.1	-18.5	179	3903	0.00	1.83	0.00	0.000	260	0.000	0.055	2391	3674	3271	3355	3187	0	0	0	0	0	0	28.83	26.48	28.83
3981	-1.25	-219.0	2392	3674	3354	3187	910.2	-18.6	181	3987	0.00	1.67	0.00	0.000	1030	0.000	0.028	2393	2500	3270	3353	3187	0	0	0	0	0	0	28.83	26.70	28.83
4295	end dive: TARGET_DEPTH_EXCEEDED
state	4295	begin apogee
4301	-0.20	0.0	2391	1994	3351	3184	973.8	-19.1	192	4642	1.08	0.00	331.73	0.759	10246	0.119	0.000	2749	1993	2378	2537	2219	0	0	0	0	0	0	26.21	28.83	24.39
4644	end apogee: CONTROL_FINISHED_OK
state	4644	begin climb
4646	1.25	219.0	2749	1993	2530	2208	994.5	0.0	203	4975	1.30	2.38	317.40	0.756	11012	0.049	0.047	3231	3415	1480	1583	1377	0	0	0	0	0	0	25.19	24.92	24.28
5026	1.25	219.0	3230	3415	1566	1364	937.9	23.9	216	5032	0.00	2.17	0.00	0.000	1030	0.000	0.028	3242	2016	1464	1565	1363	0	0	0	0	0	0	28.83	25.43	28.83
5356	1.25	219.0	3242	2016	1557	1354	852.5	25.0	227	5362	0.00	2.22	0.00	0.000	260	0.000	0.047	3242	3416	1455	1557	1354	0	0	0	0	0	0	28.83	26.12	28.83
5395	1.25	219.0	3241	3416	1557	1354	843.5	25.0	228	5401	0.12	2.15	0.00	0.000	5126	0.179	0.028	3223	1990	1454	1554	1354	0	0	0	0	0	0	25.96	26.21	28.83
5724	1.25	219.0	3223	1988	1554	1350	765.9	22.6	239	5730	0.00	2.12	0.00	0.000	516	0.000	0.038	3234	602	1452	1553	1351	0	0	0	0	0	0	28.83	26.34	28.83
5790	1.25	219.0	3234	602	1553	1351	751.1	22.7	241	5796	0.00	2.12	0.00	0.000	1030	0.000	0.032	3234	2013	1451	1553	1350	0	0	0	0	0	0	28.83	26.39	28.83
6124	1.25	219.0	3234	2012	1550	1349	677.1	21.1	252	6125	0.00	0.00	0.00	0.000	6	0.000	0.000	3234	2012	1451	1553	1349	0	0	0	0	0	0	28.83	28.83	28.83
6424	1.25	219.0	3234	2012	1552	1347	612.3	22.1	262	6430	0.00	2.17	0.00	0.000	260	0.000	0.047	3233	3405	1449	1551	1347	0	0	0	0	0	0	28.83	26.45	28.83
6492	1.25	219.0	3234	3405	1552	1347	597.5	22.3	264	6498	0.00	2.10	0.00	0.000	1030	0.000	0.030	3245	1994	1449	1551	1347	0	0	0	0	0	0	28.83	26.54	28.83
6813	1.25	219.0	3246	1994	1550	1345	525.7	22.4	280	6819	0.00	2.12	0.00	0.000	516	0.000	0.040	3257	604	1447	1550	1345	0	0	0	0	0	0	28.83	26.50	28.83
6872	1.25	219.0	3256	604	1550	1345	515.2	22.7	282	6881	0.12	2.10	0.00	0.000	5126	0.174	0.031	3225	2004	1447	1550	1345	0	0	0	0	0	0	26.27	26.54	28.83
7180	1.25	219.0	3225	2004	1550	1344	447.9	21.2	298	7185	0.00	2.17	0.00	0.000	260	0.000	0.046	3225	3408	1447	1550	1344	0	0	0	0	0	0	28.83	26.50	28.83
7254	1.25	219.0	3224	3408	1549	1344	433.0	22.0	301	7260	0.00	2.10	0.00	0.000	1030	0.000	0.030	3236	1993	1446	1549	1344	0	0	0	0	0	0	28.83	26.58	28.83
7569	1.25	219.0	3235	1992	1548	1342	368.1	18.3	317	7570	0.00	0.00	0.00	0.000	6	0.000	0.000	3236	1992	1445	1548	1342	0	0	0	0	0	0	28.83	28.83	28.83
7869	1.25	219.0	3236	1992	1547	1341	311.3	19.9	332	7870	0.00	0.00	0.00	0.000	6	0.000	0.000	3236	1992	1444	1547	1341	0	0	0	0	0	0	28.83	28.83	28.83
8169	1.25	219.0	3235	1992	1545	1341	254.7	18.5	347	8174	0.00	2.10	0.00	0.000	516	0.000	0.040	3247	607	1444	1547	1341	0	0	0	0	0	0	28.83	26.53	28.83
8186	1.25	219.0	3247	608	1547	1341	254.7	18.5	347	8194	0.00	2.08	0.00	0.000	1030	0.000	0.031	3247	2006	1444	1548	1341	0	0	0	0	0	0	28.83	26.58	28.83
8493	1.25	219.0	3247	2006	1547	1341	194.8	17.0	363	8499	0.00	2.15	0.00	0.000	260	0.000	0.045	3247	3403	1444	1547	1341	0	0	0	0	0	0	28.83	26.51	28.83
8526	1.25	219.0	3246	3403	1548	1341	190.6	16.5	364	8532	0.15	2.08	0.00	0.000	5126	0.165	0.028	3218	1991	1444	1548	1341	0	0	0	0	0	0	26.26	26.60	28.83
8842	1.25	219.0	3218	1990	1547	1341	144.2	13.0	380	8849	0.00	2.20	0.00	0.000	260	0.000	0.046	3218	3403	1444	1548	1341	0	0	0	0	0	0	28.83	26.51	28.83
8912	1.25	219.0	3218	3403	1547	1341	133.5	15.4	383	8918	0.00	2.05	0.00	0.000	1030	0.000	0.028	3229	2000	1445	1548	1342	0	0	0	0	0	0	28.83	26.62	28.83
9232	1.25	219.0	3229	1999	1551	1342	82.8	14.4	399	9238	0.00	2.10	0.00	0.000	516	0.000	0.040	3241	611	1444	1548	1341	0	0	0	0	0	0	28.83	26.53	28.83
9260	1.25	219.0	3240	610	1547	1341	79.4	14.0	400	9266	0.00	2.05	0.00	0.000	1030	0.000	0.030	3240	2000	1444	1548	1341	0	0	0	0	0	0	28.83	26.59	28.83
9570	1.32	241.6	3240	2000	1548	1341	43.1	8.1	419	9613	0.00	2.10	35.95	0.360	8708	0.000	0.036	3251	609	1392	1500	1284	0	0	0	0	0	0	28.83	26.36	25.88
9735	1.38	257.6	3251	609	1483	1275	29.0	8.3	434	9773	0.00	2.08	27.50	0.352	9222	0.000	0.029	3251	2002	1325	1434	1216	0	0	0	0	0	0	28.83	26.42	25.75
9982	end climb: SURFACE_DEPTH_REACHED
state	9982	begin surface coast
10005	end surface coast: CONTROL_FINISHED_OK
state	10005	begin surface