Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 258 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 121 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 10 ESCAPE_HEADING 0 C_ROLL_DIVE 1975 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 258 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 47.599998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -122.3 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 400 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 50 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 60 XPDR_VALID 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 2.3

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 400 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 2 VBD_MAX 3600 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2640 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 10 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 144 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 160 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 190 CAPMAXSIZE 50000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 30 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 -100822.66 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -7 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 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 100 MINV_24V 22 SIM_W 0.090000004

APOGEE_PITCH -5 PITCH_MAX 4069 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2400 FG_AHR_10V 0 SEABIRD_T_G 0.0042823856

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062054652

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 PHONE_SUPPLY -2 SEABIRD_T_I 2.2746239e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -34.938694 SEABIRD_T_J 2.4072633e-06

RHO 1.0275 PITCH_GAIN 20 PRESSURE_SLOPE 9.0818496e-05 SEABIRD_C_G -9.8275757

MASS 51800 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_H 1.1041691

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015209455

FERRY_MAX 40 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020302966

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0056599998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0135 ROLL_MIN 526 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 6.2300001e-06 ROLL_MAX 3878 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 0.090000004

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 145 SM_CC 560

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.0046000001 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 400 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4069 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 40 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MIN 100 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0024999999 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 9.0818496e-05 T_ABORT 190

CALL_NDIVES 1 HD_A 0.0056599998 PRESSURE_YINT -34.938694 T_BOOST 5

CALL_TRIES 10 HD_B 0.0135 PROTOCOL 9 T_DIVE 144

CALL_WAIT 5 HD_C 6.2300001e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 50000 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS 30

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -100822.66

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 121 RELAUNCH 1 T_MISSION 160

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 2.3 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2400 LOGGERDEVICE1 53 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2300 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 1975 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2640 LOGGERDEVICE4 -1 ROLL_MAX 3878 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -7

DEEPGLIDER 0 MASS 51800 ROLL_MIN 526 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 60 VBD_DBAND 2

DEVICE3 -1 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3600

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 400

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -9.8275757 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 258 N_DIVES 0 SEABIRD_C_H 1.1041691 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 500 N_FILEKB 4 SEABIRD_C_I -0.0015209455 VBD_TIMEOUT 720

D_BOOST 0 N_GPS 20 SEABIRD_C_J 0.00020302966 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 2 SEABIRD_T_G 0.0042823856 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00062054652 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 48 SEABIRD_T_I 2.2746239e-05 XPDR_VALID 0

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.4072633e-06

Pre-dive calculations and measurements:

GPS1 010413,200434,2157.028,12027.513,106,1.0,106,-3.1 TGT_NAME PICKUP

_CALLS 1 TGT_LATLONG 2209.500,12030.330

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -23.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010413,201241,2157.043,12027.404,18,0.9,19,-3.1 MHEAD_RNG_PITCHd_Wd 19.0,23609,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 576

Post-dive calculations and measurements:

FINISH 0.0,1.023819 _10V_AH 10.1,21.821

SM_CCo 9189,0.00,0.000,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,0.55,0.00,0.065,0.037,0.000,84,1968,400,-10.56,1.10,549.47,0,0,0,0,0,0,26.36,26.37,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2148.09,12035.12,010413,171745 MEM 324388

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 20093,530

HUMID 48.30 CAP_FILE_SIZE 362922,1822

INTERNAL_PRESSURE 9.1948 CFSIZE 260034560,221384704

TCM_TEMP 20.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 1 CURRENT 0.089,347.7,1

SC_FREEKB 3924352 GPS 010413,224834,2158.330,12027.609,96,0.8,96,-3.1

_24V_AH 24.1,42.653

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 207 85.44 nil 0 0 0.00

Roll_motor 48 54 63.26 nil 0 0 0.00

VBD_pump_during_apogee 455 1038 11412.38 nil 0 0 0.00

VBD_pump_during_surface 193 671 3124.54 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 8979 5 1187.57

Iridium_during_xfer 286 130 903.31 nil 0 0 0.00

Transponder_ping 0 420 2.53 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.17

TT8 1877 14 274.18

LPSleep 5110 2 113.05

TT8_Active 744 14 108.78

TT8_Sampling 1487 39 588.69

TT8_CF8 431 46 203.56

TT8_Kalman 0 0 0.00

Analog_circuits 1821 15 285.22

GPS_charging 0 0 0.00

Compass 1238 7 93.73

RAFOS 0 0 0.00

Transponder 1 5 0.08

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

19 -1.35 -170.3 85 1948 343 478 0.0 0.0 0 44 0.00 0.00 -23.25 0.000 16386 0.000 0.000 85 1948 1021 1007 1036 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 85 1948 1008 1037 3.1 -9.1 3 163 7.82 2.20 -94.95 0.000 18948 0.207 0.054 2111 582 3338 3248 3428 0 0 0 0 0 0 25.71 26.10 26.46

220 -1.35 -170.3 1256 582 3222 3424 19.2 -9.1 28 228 0.00 2.05 0.00 0.000 1030 0.000 0.015 2102 1987 3338 3249 3428 0 0 0 0 0 0 28.83 26.26 28.83

538 -1.35 -170.3 2102 1988 3250 3427 47.5 -9.0 64 543 0.00 2.05 0.00 0.000 260 0.000 0.031 2092 3355 3338 3250 3427 0 0 0 0 0 0 28.83 26.34 28.83

785 -1.35 -170.3 2092 3355 3252 3428 68.4 -9.0 77 791 0.00 2.08 0.00 0.000 1030 0.000 0.025 2092 1972 3339 3252 3427 0 0 0 0 0 0 28.83 26.44 28.83

1100 -1.35 -170.3 2092 1971 3255 3427 97.4 -9.0 93 1105 0.00 2.10 0.00 0.000 260 0.000 0.030 2083 3356 3341 3255 3427 0 0 0 0 0 0 28.83 26.46 28.83

1129 -1.35 -170.3 2083 3356 3255 3428 99.6 -8.9 94 1135 0.00 2.08 0.00 0.000 1030 0.000 0.025 2086 1970 3341 3255 3428 0 0 0 0 0 0 28.83 26.50 28.83

1450 -1.35 -170.3 2085 1970 3255 3428 128.4 -8.9 110 1451 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1970 3341 3255 3427 0 0 0 0 0 0 28.83 28.83 28.83

1751 -1.35 -170.3 2085 1970 3255 3427 155.4 -9.1 125 1752 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1970 3341 3255 3427 0 0 0 0 0 0 28.83 28.83 28.83

2051 -1.35 -170.3 2085 1970 3255 3424 182.4 -9.3 140 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1970 3339 3255 3424 0 0 0 0 0 0 28.83 28.83 28.83

2350 -1.35 -170.3 2085 1970 3254 3421 209.7 -9.1 155 2352 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1970 3337 3254 3420 0 0 0 0 0 0 28.83 28.83 28.83

2651 -1.35 -170.3 2085 1970 3254 3417 236.2 -9.0 170 2652 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1970 3336 3255 3417 0 0 0 0 0 0 28.83 28.83 28.83

2950 -1.35 -170.3 2085 1970 3254 3414 262.6 -9.1 185 2952 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1970 3333 3253 3414 0 0 0 0 0 0 28.83 28.83 28.83

3250 -1.35 -170.3 2085 1969 3252 3411 289.9 -8.9 200 3252 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1969 3332 3253 3411 0 0 0 0 0 0 28.83 28.83 28.83

3551 -1.35 -170.3 2085 1970 3250 3409 317.4 -9.0 215 3557 0.00 2.15 0.00 0.000 516 0.000 0.044 2095 575 3329 3250 3408 0 0 0 0 0 0 28.83 26.47 28.83

3577 -1.35 -170.3 2095 575 3250 3408 319.8 -9.1 216 3583 0.00 2.03 0.00 0.000 1030 0.000 0.016 2087 1971 3329 3250 3408 0 0 0 0 0 0 28.83 26.63 28.83

3903 -1.35 -170.3 2087 1971 3248 3407 349.1 -9.2 232 3904 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1971 3327 3248 3406 0 0 0 0 0 0 28.83 28.83 28.83

4204 -1.35 -170.3 2087 1972 3245 3404 376.0 -8.9 247 4211 0.00 2.10 0.00 0.000 260 0.000 0.034 2076 3365 3324 3245 3403 0 0 0 0 0 0 28.83 26.50 28.83

4252 -1.35 -170.3 2076 3365 3244 3403 380.5 -8.8 249 4259 0.12 2.10 0.00 0.000 3078 0.146 0.029 2111 1981 3323 3244 3403 0 0 0 0 0 0 26.29 26.51 28.83

4476 end dive: TARGET_DEPTH_EXCEEDED

state 4476 begin apogee

4482 -0.25 0.0 2110 2308 3243 3401 401.2 -9.0 260 4649 0.70 0.00 155.73 1.039 10246 0.108 0.000 2342 2309 2639 2591 2687 0 0 0 0 1 0 26.20 28.83 24.12

4653 end apogee: CONTROL_FINISHED_OK

state 4653 begin climb

4655 1.35 170.3 2342 2308 2592 2687 387.0 0.0 267 4824 1.00 2.45 160.57 0.907 11012 0.052 0.041 2713 905 1937 1906 1969 0 0 0 0 0 0 25.10 24.81 24.11

4859 1.39 183.5 2713 904 1901 1951 368.2 8.8 278 4874 0.00 2.17 7.97 0.824 9222 0.000 0.017 2713 2298 1893 1868 1919 0 0 0 0 0 0 28.83 25.27 24.40

5169 1.41 194.1 2713 2299 1868 1911 339.9 8.9 294 5189 0.00 0.00 13.30 0.854 8198 0.000 0.000 2713 2299 1839 1815 1863 0 0 0 0 0 0 28.83 28.83 25.08

5489 1.42 198.9 2713 2299 1813 1853 310.7 9.1 310 5496 0.00 2.15 0.00 0.000 260 0.000 0.034 2713 3702 1833 1813 1854 0 0 0 0 0 0 28.83 26.20 28.83

5550 1.44 206.4 2713 3702 1813 1852 306.5 9.0 312 5569 0.00 2.15 11.25 0.829 9222 0.000 0.025 2722 2299 1792 1766 1818 0 0 0 0 0 0 28.83 26.25 25.29

5885 1.45 210.3 2722 2299 1764 1811 275.2 9.1 329 5886 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2299 1787 1764 1811 0 0 0 0 0 0 28.83 28.83 28.83

6185 1.47 218.5 2722 2299 1764 1808 248.2 9.0 344 6202 0.00 2.28 11.35 0.769 8708 0.000 0.044 2734 900 1745 1716 1774 0 0 0 0 0 0 28.83 26.22 25.47

6256 1.49 225.1 2733 900 1715 1773 241.9 9.0 347 6268 0.00 2.10 7.22 0.765 9222 0.000 0.018 2733 2302 1720 1689 1752 0 0 0 0 0 0 28.83 26.30 25.34

6578 1.50 227.5 2733 2301 1686 1743 212.9 9.2 363 6584 0.00 2.12 0.00 0.000 260 0.000 0.036 2733 3691 1715 1686 1744 0 0 0 0 0 0 28.83 26.29 28.83

6619 1.51 231.7 2733 3691 1686 1743 210.6 9.1 364 6634 0.00 2.15 7.00 0.741 9222 0.000 0.027 2743 2293 1690 1657 1724 0 0 0 0 0 0 28.83 26.33 25.44

6955 1.54 246.0 2743 2293 1656 1720 179.6 8.7 381 6973 0.00 0.00 14.50 0.713 8198 0.000 0.000 2743 2293 1633 1588 1679 0 0 0 0 0 0 28.83 28.83 25.47

7272 1.55 250.8 2743 2292 1585 1672 151.1 9.1 397 7280 0.00 2.28 3.28 0.496 8708 0.000 0.044 2754 890 1617 1570 1664 0 0 0 0 0 0 28.83 26.28 25.18

7328 1.58 259.9 2754 890 1570 1664 146.8 8.9 399 7346 0.00 2.12 12.23 0.679 9222 0.000 0.018 2754 2310 1576 1525 1628 0 0 0 0 0 0 28.83 26.37 25.46

7642 1.60 267.2 2754 2309 1522 1621 117.9 9.0 415 7651 0.00 0.00 7.53 0.653 8198 0.000 0.000 2754 2310 1550 1498 1602 0 0 0 0 0 0 28.83 28.83 25.49

7944 1.63 280.6 2754 2310 1494 1594 91.0 8.8 430 7962 0.00 0.00 14.40 0.603 8198 0.000 0.000 2754 2311 1491 1439 1544 0 0 0 0 0 0 28.83 28.83 25.55

8263 1.66 292.9 2754 2311 1437 1536 62.2 8.8 446 8279 0.00 0.00 12.23 0.577 8454 0.000 0.000 2754 2311 1442 1393 1492 0 0 0 0 0 0 28.83 28.83 25.57

8588 1.69 305.7 2754 2311 1392 1482 33.2 8.8 471 8608 0.00 2.28 13.05 0.546 8708 0.000 0.041 2763 896 1387 1346 1429 0 0 0 0 0 0 28.83 26.21 25.60

8659 1.71 311.5 2763 896 1346 1425 26.9 9.0 477 8672 0.00 2.12 4.22 0.496 9222 0.000 0.017 2763 2314 1368 1330 1407 0 0 0 0 0 0 28.83 26.31 25.27

8926 end climb: SURFACE_DEPTH_REACHED

state 8926 begin surface coast

8960 end surface coast: CONTROL_FINISHED_OK

state 8961 begin surface

ID	121	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	1975	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	258	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	47.599998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-122.3	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	400	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	50	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	60	XPDR_VALID	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	2.3
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	400	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	2	VBD_MAX	3600	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2640	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	10	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	144	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	160	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	190	CAPMAXSIZE	50000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	30	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	-100822.66	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-7	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	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	100	MINV_24V	22	SIM_W	0.090000004
APOGEE_PITCH	-5	PITCH_MAX	4069	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2400	FG_AHR_10V	0	SEABIRD_T_G	0.0042823856
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062054652
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2746239e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-34.938694	SEABIRD_T_J	2.4072633e-06
RHO	1.0275	PITCH_GAIN	20	PRESSURE_SLOPE	9.0818496e-05	SEABIRD_C_G	-9.8275757
MASS	51800	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_H	1.1041691
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015209455
FERRY_MAX	40	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020302966
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0056599998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0135	ROLL_MIN	526	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	6.2300001e-06	ROLL_MAX	3878	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	010413,200434,2157.028,12027.513,106,1.0,106,-3.1	TGT_NAME	PICKUP
_CALLS	1	TGT_LATLONG	2209.500,12030.330
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-23.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010413,201241,2157.043,12027.404,18,0.9,19,-3.1	MHEAD_RNG_PITCHd_Wd	19.0,23609,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	576

FINISH	0.0,1.023819	_10V_AH	10.1,21.821
SM_CCo	9189,0.00,0.000,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,0.55,0.00,0.065,0.037,0.000,84,1968,400,-10.56,1.10,549.47,0,0,0,0,0,0,26.36,26.37,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2148.09,12035.12,010413,171745	MEM	324388
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	20093,530
HUMID	48.30	CAP_FILE_SIZE	362922,1822
INTERNAL_PRESSURE	9.1948	CFSIZE	260034560,221384704
TCM_TEMP	20.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	1	CURRENT	0.089,347.7,1
SC_FREEKB	3924352	GPS	010413,224834,2158.330,12027.609,96,0.8,96,-3.1
_24V_AH	24.1,42.653

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	207	85.44	nil	0	0	0.00
Roll_motor	48	54	63.26	nil	0	0	0.00
VBD_pump_during_apogee	455	1038	11412.38	nil	0	0	0.00
VBD_pump_during_surface	193	671	3124.54	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	8979	5	1187.57
Iridium_during_xfer	286	130	903.31	nil	0	0	0.00
Transponder_ping	0	420	2.53	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.17
TT8	1877	14	274.18
LPSleep	5110	2	113.05
TT8_Active	744	14	108.78
TT8_Sampling	1487	39	588.69
TT8_CF8	431	46	203.56
TT8_Kalman	0	0	0.00
Analog_circuits	1821	15	285.22
GPS_charging	0	0	0.00
Compass	1238	7	93.73
RAFOS	0	0	0.00
Transponder	1	5	0.08

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
19	-1.35	-170.3	85	1948	343	478	0.0	0.0	0	44	0.00	0.00	-23.25	0.000	16386	0.000	0.000	85	1948	1021	1007	1036	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	85	1948	1008	1037	3.1	-9.1	3	163	7.82	2.20	-94.95	0.000	18948	0.207	0.054	2111	582	3338	3248	3428	0	0	0	0	0	0	25.71	26.10	26.46
220	-1.35	-170.3	1256	582	3222	3424	19.2	-9.1	28	228	0.00	2.05	0.00	0.000	1030	0.000	0.015	2102	1987	3338	3249	3428	0	0	0	0	0	0	28.83	26.26	28.83
538	-1.35	-170.3	2102	1988	3250	3427	47.5	-9.0	64	543	0.00	2.05	0.00	0.000	260	0.000	0.031	2092	3355	3338	3250	3427	0	0	0	0	0	0	28.83	26.34	28.83
785	-1.35	-170.3	2092	3355	3252	3428	68.4	-9.0	77	791	0.00	2.08	0.00	0.000	1030	0.000	0.025	2092	1972	3339	3252	3427	0	0	0	0	0	0	28.83	26.44	28.83
1100	-1.35	-170.3	2092	1971	3255	3427	97.4	-9.0	93	1105	0.00	2.10	0.00	0.000	260	0.000	0.030	2083	3356	3341	3255	3427	0	0	0	0	0	0	28.83	26.46	28.83
1129	-1.35	-170.3	2083	3356	3255	3428	99.6	-8.9	94	1135	0.00	2.08	0.00	0.000	1030	0.000	0.025	2086	1970	3341	3255	3428	0	0	0	0	0	0	28.83	26.50	28.83
1450	-1.35	-170.3	2085	1970	3255	3428	128.4	-8.9	110	1451	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1970	3341	3255	3427	0	0	0	0	0	0	28.83	28.83	28.83
1751	-1.35	-170.3	2085	1970	3255	3427	155.4	-9.1	125	1752	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1970	3341	3255	3427	0	0	0	0	0	0	28.83	28.83	28.83
2051	-1.35	-170.3	2085	1970	3255	3424	182.4	-9.3	140	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1970	3339	3255	3424	0	0	0	0	0	0	28.83	28.83	28.83
2350	-1.35	-170.3	2085	1970	3254	3421	209.7	-9.1	155	2352	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1970	3337	3254	3420	0	0	0	0	0	0	28.83	28.83	28.83
2651	-1.35	-170.3	2085	1970	3254	3417	236.2	-9.0	170	2652	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1970	3336	3255	3417	0	0	0	0	0	0	28.83	28.83	28.83
2950	-1.35	-170.3	2085	1970	3254	3414	262.6	-9.1	185	2952	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1970	3333	3253	3414	0	0	0	0	0	0	28.83	28.83	28.83
3250	-1.35	-170.3	2085	1969	3252	3411	289.9	-8.9	200	3252	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1969	3332	3253	3411	0	0	0	0	0	0	28.83	28.83	28.83
3551	-1.35	-170.3	2085	1970	3250	3409	317.4	-9.0	215	3557	0.00	2.15	0.00	0.000	516	0.000	0.044	2095	575	3329	3250	3408	0	0	0	0	0	0	28.83	26.47	28.83
3577	-1.35	-170.3	2095	575	3250	3408	319.8	-9.1	216	3583	0.00	2.03	0.00	0.000	1030	0.000	0.016	2087	1971	3329	3250	3408	0	0	0	0	0	0	28.83	26.63	28.83
3903	-1.35	-170.3	2087	1971	3248	3407	349.1	-9.2	232	3904	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1971	3327	3248	3406	0	0	0	0	0	0	28.83	28.83	28.83
4204	-1.35	-170.3	2087	1972	3245	3404	376.0	-8.9	247	4211	0.00	2.10	0.00	0.000	260	0.000	0.034	2076	3365	3324	3245	3403	0	0	0	0	0	0	28.83	26.50	28.83
4252	-1.35	-170.3	2076	3365	3244	3403	380.5	-8.8	249	4259	0.12	2.10	0.00	0.000	3078	0.146	0.029	2111	1981	3323	3244	3403	0	0	0	0	0	0	26.29	26.51	28.83
4476	end dive: TARGET_DEPTH_EXCEEDED
state	4476	begin apogee
4482	-0.25	0.0	2110	2308	3243	3401	401.2	-9.0	260	4649	0.70	0.00	155.73	1.039	10246	0.108	0.000	2342	2309	2639	2591	2687	0	0	0	0	1	0	26.20	28.83	24.12
4653	end apogee: CONTROL_FINISHED_OK
state	4653	begin climb
4655	1.35	170.3	2342	2308	2592	2687	387.0	0.0	267	4824	1.00	2.45	160.57	0.907	11012	0.052	0.041	2713	905	1937	1906	1969	0	0	0	0	0	0	25.10	24.81	24.11
4859	1.39	183.5	2713	904	1901	1951	368.2	8.8	278	4874	0.00	2.17	7.97	0.824	9222	0.000	0.017	2713	2298	1893	1868	1919	0	0	0	0	0	0	28.83	25.27	24.40
5169	1.41	194.1	2713	2299	1868	1911	339.9	8.9	294	5189	0.00	0.00	13.30	0.854	8198	0.000	0.000	2713	2299	1839	1815	1863	0	0	0	0	0	0	28.83	28.83	25.08
5489	1.42	198.9	2713	2299	1813	1853	310.7	9.1	310	5496	0.00	2.15	0.00	0.000	260	0.000	0.034	2713	3702	1833	1813	1854	0	0	0	0	0	0	28.83	26.20	28.83
5550	1.44	206.4	2713	3702	1813	1852	306.5	9.0	312	5569	0.00	2.15	11.25	0.829	9222	0.000	0.025	2722	2299	1792	1766	1818	0	0	0	0	0	0	28.83	26.25	25.29
5885	1.45	210.3	2722	2299	1764	1811	275.2	9.1	329	5886	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2299	1787	1764	1811	0	0	0	0	0	0	28.83	28.83	28.83
6185	1.47	218.5	2722	2299	1764	1808	248.2	9.0	344	6202	0.00	2.28	11.35	0.769	8708	0.000	0.044	2734	900	1745	1716	1774	0	0	0	0	0	0	28.83	26.22	25.47
6256	1.49	225.1	2733	900	1715	1773	241.9	9.0	347	6268	0.00	2.10	7.22	0.765	9222	0.000	0.018	2733	2302	1720	1689	1752	0	0	0	0	0	0	28.83	26.30	25.34
6578	1.50	227.5	2733	2301	1686	1743	212.9	9.2	363	6584	0.00	2.12	0.00	0.000	260	0.000	0.036	2733	3691	1715	1686	1744	0	0	0	0	0	0	28.83	26.29	28.83
6619	1.51	231.7	2733	3691	1686	1743	210.6	9.1	364	6634	0.00	2.15	7.00	0.741	9222	0.000	0.027	2743	2293	1690	1657	1724	0	0	0	0	0	0	28.83	26.33	25.44
6955	1.54	246.0	2743	2293	1656	1720	179.6	8.7	381	6973	0.00	0.00	14.50	0.713	8198	0.000	0.000	2743	2293	1633	1588	1679	0	0	0	0	0	0	28.83	28.83	25.47
7272	1.55	250.8	2743	2292	1585	1672	151.1	9.1	397	7280	0.00	2.28	3.28	0.496	8708	0.000	0.044	2754	890	1617	1570	1664	0	0	0	0	0	0	28.83	26.28	25.18
7328	1.58	259.9	2754	890	1570	1664	146.8	8.9	399	7346	0.00	2.12	12.23	0.679	9222	0.000	0.018	2754	2310	1576	1525	1628	0	0	0	0	0	0	28.83	26.37	25.46
7642	1.60	267.2	2754	2309	1522	1621	117.9	9.0	415	7651	0.00	0.00	7.53	0.653	8198	0.000	0.000	2754	2310	1550	1498	1602	0	0	0	0	0	0	28.83	28.83	25.49
7944	1.63	280.6	2754	2310	1494	1594	91.0	8.8	430	7962	0.00	0.00	14.40	0.603	8198	0.000	0.000	2754	2311	1491	1439	1544	0	0	0	0	0	0	28.83	28.83	25.55
8263	1.66	292.9	2754	2311	1437	1536	62.2	8.8	446	8279	0.00	0.00	12.23	0.577	8454	0.000	0.000	2754	2311	1442	1393	1492	0	0	0	0	0	0	28.83	28.83	25.57
8588	1.69	305.7	2754	2311	1392	1482	33.2	8.8	471	8608	0.00	2.28	13.05	0.546	8708	0.000	0.041	2763	896	1387	1346	1429	0	0	0	0	0	0	28.83	26.21	25.60
8659	1.71	311.5	2763	896	1346	1425	26.9	9.0	477	8672	0.00	2.12	4.22	0.496	9222	0.000	0.017	2763	2314	1368	1330	1407	0	0	0	0	0	0	28.83	26.31	25.27
8926	end climb: SURFACE_DEPTH_REACHED
state	8926	begin surface coast
8960	end surface coast: CONTROL_FINISHED_OK
state	8961	begin surface