Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 27 * 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 27 ESCAPE_HEADING 0 ROLL_DEG 25 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 70 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 45 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 10 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 -968514.75 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 -968514.75

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 10

C_ROLL_CLIMB 2150 LOGGERDEVICE2 -1 ROLL_DEG 25 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 70 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 45 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 27 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 191012,134636,2157.638,12105.956,39,1.7,39,-3.2 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191012,135236,2157.596,12105.846,4,1.2,4,-3.2 MHEAD_RNG_PITCHd_Wd 36.0,126899,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 1122

Post-dive calculations and measurements:

FINISH 0.9,1.021991 _10V_AH 10.1,6.927

SM_CCo 11055,0.00,0.000,0,0,447,618.40 FG_AHR_24Vo 0.000

SM_GC 1.56,7.50,0.12,0.00,0.028,0.077,0.000,110,2275,447,-8.10,-1.44,618.40,0,0,0,0,0,0,26.56,26.60,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2148.09,12100.22,191012,101056 MEM 323856

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 23368,635

HUMID 51.85 CAP_FILE_SIZE 130459,0

INTERNAL_PRESSURE 9.44372 CFSIZE 260165632,247033856

TCM_TEMP 26.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 5 CURRENT 0.241,241.4,1

ALTIM_BOTTOM_PING 551.6,8.0 GPS 191012,165836,2158.166,12105.121,35,1.2,35,-3.2

_24V_AH 24.0,13.031

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 229 111.12 nil 0 0 0.00

Roll_motor 48 86 100.16 nil 0 0 0.00

VBD_pump_during_apogee 636 1335 20419.23 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 10991 15 3986.83

Iridium_during_xfer 209 123 624.31 nil 0 0 0.00

Transponder_ping 2 420 20.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.55

TT8 1755 14 260.78

LPSleep 7186 2 158.97

TT8_Active 776 14 115.38

TT8_Sampling 1465 37 561.32

TT8_CF8 238 44 107.73

TT8_Kalman 0 0 0.00

Analog_circuits 1661 16 268.48

GPS_charging 0 0 0.00

Compass 1207 8 100.47

RAFOS 0 0 0.00

Transponder 7 30 2.20

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 -75.75 0.000 2 0.000 0.000 111 2264 2496 0 0 0 0 0 0 28.83 28.83 28.83

100 -0.47 -195.5 3.1 -4.8 13 149 9.65 1.35 -30.85 0.000 4 0.230 0.072 2583 3116 3766 0 0 0 0 0 0 25.82 26.20 26.55

176 -0.47 -195.5 12.4 -16.2 26 183 0.00 1.25 0.00 0.000 6 0.000 0.023 2582 2252 3767 0 0 0 0 0 0 28.83 26.33 28.83

498 -0.45 -195.5 65.7 -19.0 61 499 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2252 3768 0 0 0 0 0 0 28.83 28.83 28.83

798 -0.51 -195.5 97.1 -8.4 76 799 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2252 3767 0 0 0 0 0 0 28.83 28.83 28.83

1098 -0.58 -195.5 118.3 -5.9 91 1104 0.00 1.33 0.00 0.000 4 0.000 0.044 2582 3115 3768 0 0 0 0 0 0 28.83 26.56 28.83

1226 -0.67 -195.5 125.8 -6.4 97 1234 0.17 1.27 0.00 0.000 6 0.061 0.021 2477 2227 3768 0 0 0 0 0 0 26.65 26.68 28.83

1536 -0.64 -195.5 172.8 -15.5 113 1544 0.17 1.40 0.00 0.000 4 0.137 0.044 2524 3125 3772 0 0 0 0 0 0 26.48 26.61 28.83

1645 -0.67 -195.5 184.0 -10.6 118 1648 0.00 1.27 0.00 0.000 6 0.000 0.022 2525 2244 3768 0 0 0 0 0 0 28.83 26.72 28.83

1946 -0.71 -195.5 209.2 -10.0 133 1947 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2243 3772 0 0 0 0 0 0 28.83 28.83 28.83

2248 -0.76 -195.5 236.5 -7.8 148 2253 0.00 1.35 0.00 0.000 4 0.000 0.046 2522 3117 3768 0 0 0 0 0 0 28.83 26.65 28.83

2477 -0.82 -195.5 253.1 -7.7 159 2485 0.10 1.27 0.00 0.000 6 0.043 0.022 2441 2232 3767 0 0 0 0 0 0 26.70 26.77 28.83

2786 -0.80 -195.5 300.9 -13.9 175 2793 0.15 1.40 0.00 0.000 4 0.148 0.044 2482 3129 3765 0 0 0 0 0 0 26.55 26.66 28.83

2854 -0.80 -195.5 308.2 -13.0 178 2858 0.00 1.27 0.00 0.000 6 0.000 0.022 2482 2247 3765 0 0 0 0 0 0 28.83 26.77 28.83

3156 -0.83 -195.5 334.4 -7.9 193 3163 0.00 1.38 0.00 0.000 4 0.000 0.045 2482 3123 3763 0 0 0 0 0 0 28.83 26.66 28.83

3245 -0.85 -195.5 340.5 -7.7 197 3249 0.00 1.27 0.00 0.000 6 0.000 0.023 2482 2247 3763 0 0 0 0 0 0 28.83 26.77 28.83

3546 -0.88 -195.5 368.3 -10.0 212 3549 0.00 1.25 0.00 0.000 4 0.000 0.032 2482 1392 3761 0 0 0 0 0 0 28.83 26.71 28.83

3597 -0.92 -195.5 373.7 -10.4 215 3605 0.12 1.33 0.00 0.000 6 0.083 0.037 2411 2253 3761 0 0 0 0 0 0 26.68 26.69 28.83

3917 -0.88 -195.5 419.5 -13.8 231 3925 0.15 1.35 0.00 0.000 4 0.159 0.047 2451 3133 3758 0 0 0 0 0 0 26.51 26.67 28.83

3977 -0.87 -195.5 426.4 -11.9 234 3980 0.00 1.30 0.00 0.000 6 0.000 0.023 2451 2241 3758 0 0 0 0 0 0 28.83 26.77 28.83

4288 -0.87 -195.5 454.2 -8.1 250 4290 0.00 0.00 -0.08 0.000 6 0.000 0.000 2451 2241 3779 0 0 0 0 0 0 28.83 28.83 25.92

4588 -0.88 -195.5 483.3 -10.2 265 4595 0.00 1.42 0.00 0.000 4 0.000 0.049 2451 3133 3777 0 0 0 0 0 0 28.83 26.64 28.83

4637 -0.89 -195.5 487.6 -10.6 267 4640 0.00 1.30 0.00 0.000 6 0.000 0.036 2451 2252 3777 0 0 0 0 0 0 28.83 26.76 28.83

4938 -0.91 -195.5 522.7 -11.3 282 4939 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2252 3775 0 0 0 0 0 0 28.83 28.83 28.83

5201 end dive: BOTTOM_OBSTACLE_DETECTED

state 5201 begin apogee

5208 -0.20 0.0 551.6 -11.3 295 5369 0.65 0.00 157.38 0.891 6 0.122 0.000 2674 2131 2967 0 0 0 0 0 0 26.44 28.83 24.41

5373 end apogee: CONTROL_FINISHED_OK

state 5373 begin climb

5375 0.47 195.5 560.2 0.0 303 5544 0.57 1.50 161.00 0.850 4 0.047 0.041 2902 3029 2165 0 0 0 0 0 0 25.23 24.95 24.31

5773 0.42 195.5 524.0 13.4 322 5781 0.00 1.30 0.00 0.000 6 0.000 0.024 2902 2156 2148 0 0 0 0 0 0 28.83 26.05 28.83

6083 0.38 195.5 487.0 11.0 338 6090 0.15 1.38 0.00 0.000 4 0.149 0.041 2860 3032 2146 0 0 0 0 0 0 26.16 26.28 28.83

6323 0.37 218.0 464.3 9.2 350 6345 0.00 1.33 18.17 0.846 6 0.000 0.024 2862 2132 2078 0 0 0 0 0 0 28.83 26.46 25.34

6653 0.37 218.0 428.2 11.1 367 6656 0.00 1.42 0.00 0.000 4 0.000 0.041 2862 3037 2060 0 0 0 0 0 0 28.83 26.34 28.83

6884 0.36 218.0 402.3 10.6 379 6891 0.00 1.33 0.00 0.000 6 0.000 0.025 2862 2144 2060 0 0 0 0 0 0 28.83 26.50 28.83

7204 0.37 257.9 373.8 8.6 395 7244 0.00 1.33 29.52 1.128 4 0.000 0.035 2862 1290 1917 0 0 0 0 1 0 28.83 25.75 24.73

7473 0.42 341.6 354.0 7.1 408 7564 0.00 1.35 76.10 1.336 6 0.000 0.036 2862 2165 1576 0 0 0 0 1 0 28.83 26.21 23.95

7865 0.46 380.3 324.9 8.7 428 7912 0.00 1.38 35.80 1.155 4 0.000 0.042 2862 3020 1417 0 0 0 0 1 0 28.83 25.27 24.27

8124 0.50 380.3 298.4 12.4 441 8132 0.12 1.30 0.00 0.000 6 0.078 0.023 2934 2132 1420 0 0 0 0 0 0 26.06 26.10 28.83

8444 0.48 380.3 251.8 13.5 457 8452 0.15 1.40 0.00 0.000 4 0.137 0.039 2891 3033 1420 0 0 0 0 0 0 26.22 26.32 28.83

8484 0.48 380.3 246.8 13.1 459 8491 0.00 1.30 0.00 0.000 6 0.000 0.024 2891 2151 1419 0 0 0 0 0 0 28.83 26.41 28.83

8804 0.53 408.9 214.7 9.0 475 8843 0.00 0.00 27.15 1.019 6 0.000 0.000 2891 2151 1300 0 0 0 0 1 0 28.83 28.83 24.85

9144 0.59 464.6 188.7 8.1 492 9205 0.12 1.35 51.85 0.678 4 0.080 0.045 2965 3025 1065 0 0 0 0 0 0 26.34 25.56 24.98

9324 0.58 464.6 161.5 15.6 501 9332 0.15 1.30 0.00 0.000 6 0.138 0.022 2929 2145 1061 0 0 0 0 0 0 25.89 26.05 28.83

9644 0.64 508.2 126.8 8.5 517 9684 0.00 1.42 34.20 0.638 4 0.000 0.038 2930 3034 888 0 0 0 0 0 0 28.83 25.81 25.24

9815 0.72 546.2 113.4 8.7 525 9834 0.10 1.27 14.43 0.380 6 0.039 0.021 3008 2151 739 0 0 0 0 0 0 26.13 26.17 25.48

10135 0.76 553.9 76.7 9.7 541 10143 0.00 1.38 3.65 0.281 4 0.000 0.037 3008 3028 710 0 0 0 0 0 0 28.83 26.29 25.78

10265 0.82 626.2 66.3 7.5 547 10298 0.00 1.25 27.73 0.269 6 0.000 0.021 3008 2158 457 0 0 0 0 0 0 28.83 26.42 25.77

10596 0.89 650.4 35.9 9.2 572 10597 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2158 451 0 0 0 0 0 0 28.83 28.83 28.83

10898 1.00 752.8 9.9 6.5 620 10905 0.12 0.00 0.00 0.000 6 0.077 0.000 3110 2158 448 0 0 0 0 0 0 26.60 28.83 28.83

10960 end climb: SURFACE_DEPTH_REACHED

state 10960 begin surface coast

10977 end surface coast: CONTROL_FINISHED_OK

state 10977 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	27	ESCAPE_HEADING	0	ROLL_DEG	25	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	70	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	45	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	10	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	-968514.75	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	191012,134636,2157.638,12105.956,39,1.7,39,-3.2	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191012,135236,2157.596,12105.846,4,1.2,4,-3.2	MHEAD_RNG_PITCHd_Wd	36.0,126899,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	1122

FINISH	0.9,1.021991	_10V_AH	10.1,6.927
SM_CCo	11055,0.00,0.000,0,0,447,618.40	FG_AHR_24Vo	0.000
SM_GC	1.56,7.50,0.12,0.00,0.028,0.077,0.000,110,2275,447,-8.10,-1.44,618.40,0,0,0,0,0,0,26.56,26.60,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2148.09,12100.22,191012,101056	MEM	323856
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	23368,635
HUMID	51.85	CAP_FILE_SIZE	130459,0
INTERNAL_PRESSURE	9.44372	CFSIZE	260165632,247033856
TCM_TEMP	26.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	5	CURRENT	0.241,241.4,1
ALTIM_BOTTOM_PING	551.6,8.0	GPS	191012,165836,2158.166,12105.121,35,1.2,35,-3.2
_24V_AH	24.0,13.031

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	229	111.12	nil	0	0	0.00
Roll_motor	48	86	100.16	nil	0	0	0.00
VBD_pump_during_apogee	636	1335	20419.23	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	10991	15	3986.83
Iridium_during_xfer	209	123	624.31	nil	0	0	0.00
Transponder_ping	2	420	20.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.55
TT8	1755	14	260.78
LPSleep	7186	2	158.97
TT8_Active	776	14	115.38
TT8_Sampling	1465	37	561.32
TT8_CF8	238	44	107.73
TT8_Kalman	0	0	0.00
Analog_circuits	1661	16	268.48
GPS_charging	0	0	0.00
Compass	1207	8	100.47
RAFOS	0	0	0.00
Transponder	7	30	2.20

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	-75.75	0.000	2	0.000	0.000	111	2264	2496	0	0	0	0	0	0	28.83	28.83	28.83
100	-0.47	-195.5	3.1	-4.8	13	149	9.65	1.35	-30.85	0.000	4	0.230	0.072	2583	3116	3766	0	0	0	0	0	0	25.82	26.20	26.55
176	-0.47	-195.5	12.4	-16.2	26	183	0.00	1.25	0.00	0.000	6	0.000	0.023	2582	2252	3767	0	0	0	0	0	0	28.83	26.33	28.83
498	-0.45	-195.5	65.7	-19.0	61	499	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2252	3768	0	0	0	0	0	0	28.83	28.83	28.83
798	-0.51	-195.5	97.1	-8.4	76	799	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2252	3767	0	0	0	0	0	0	28.83	28.83	28.83
1098	-0.58	-195.5	118.3	-5.9	91	1104	0.00	1.33	0.00	0.000	4	0.000	0.044	2582	3115	3768	0	0	0	0	0	0	28.83	26.56	28.83
1226	-0.67	-195.5	125.8	-6.4	97	1234	0.17	1.27	0.00	0.000	6	0.061	0.021	2477	2227	3768	0	0	0	0	0	0	26.65	26.68	28.83
1536	-0.64	-195.5	172.8	-15.5	113	1544	0.17	1.40	0.00	0.000	4	0.137	0.044	2524	3125	3772	0	0	0	0	0	0	26.48	26.61	28.83
1645	-0.67	-195.5	184.0	-10.6	118	1648	0.00	1.27	0.00	0.000	6	0.000	0.022	2525	2244	3768	0	0	0	0	0	0	28.83	26.72	28.83
1946	-0.71	-195.5	209.2	-10.0	133	1947	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2243	3772	0	0	0	0	0	0	28.83	28.83	28.83
2248	-0.76	-195.5	236.5	-7.8	148	2253	0.00	1.35	0.00	0.000	4	0.000	0.046	2522	3117	3768	0	0	0	0	0	0	28.83	26.65	28.83
2477	-0.82	-195.5	253.1	-7.7	159	2485	0.10	1.27	0.00	0.000	6	0.043	0.022	2441	2232	3767	0	0	0	0	0	0	26.70	26.77	28.83
2786	-0.80	-195.5	300.9	-13.9	175	2793	0.15	1.40	0.00	0.000	4	0.148	0.044	2482	3129	3765	0	0	0	0	0	0	26.55	26.66	28.83
2854	-0.80	-195.5	308.2	-13.0	178	2858	0.00	1.27	0.00	0.000	6	0.000	0.022	2482	2247	3765	0	0	0	0	0	0	28.83	26.77	28.83
3156	-0.83	-195.5	334.4	-7.9	193	3163	0.00	1.38	0.00	0.000	4	0.000	0.045	2482	3123	3763	0	0	0	0	0	0	28.83	26.66	28.83
3245	-0.85	-195.5	340.5	-7.7	197	3249	0.00	1.27	0.00	0.000	6	0.000	0.023	2482	2247	3763	0	0	0	0	0	0	28.83	26.77	28.83
3546	-0.88	-195.5	368.3	-10.0	212	3549	0.00	1.25	0.00	0.000	4	0.000	0.032	2482	1392	3761	0	0	0	0	0	0	28.83	26.71	28.83
3597	-0.92	-195.5	373.7	-10.4	215	3605	0.12	1.33	0.00	0.000	6	0.083	0.037	2411	2253	3761	0	0	0	0	0	0	26.68	26.69	28.83
3917	-0.88	-195.5	419.5	-13.8	231	3925	0.15	1.35	0.00	0.000	4	0.159	0.047	2451	3133	3758	0	0	0	0	0	0	26.51	26.67	28.83
3977	-0.87	-195.5	426.4	-11.9	234	3980	0.00	1.30	0.00	0.000	6	0.000	0.023	2451	2241	3758	0	0	0	0	0	0	28.83	26.77	28.83
4288	-0.87	-195.5	454.2	-8.1	250	4290	0.00	0.00	-0.08	0.000	6	0.000	0.000	2451	2241	3779	0	0	0	0	0	0	28.83	28.83	25.92
4588	-0.88	-195.5	483.3	-10.2	265	4595	0.00	1.42	0.00	0.000	4	0.000	0.049	2451	3133	3777	0	0	0	0	0	0	28.83	26.64	28.83
4637	-0.89	-195.5	487.6	-10.6	267	4640	0.00	1.30	0.00	0.000	6	0.000	0.036	2451	2252	3777	0	0	0	0	0	0	28.83	26.76	28.83
4938	-0.91	-195.5	522.7	-11.3	282	4939	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2252	3775	0	0	0	0	0	0	28.83	28.83	28.83
5201	end dive: BOTTOM_OBSTACLE_DETECTED
state	5201	begin apogee
5208	-0.20	0.0	551.6	-11.3	295	5369	0.65	0.00	157.38	0.891	6	0.122	0.000	2674	2131	2967	0	0	0	0	0	0	26.44	28.83	24.41
5373	end apogee: CONTROL_FINISHED_OK
state	5373	begin climb
5375	0.47	195.5	560.2	0.0	303	5544	0.57	1.50	161.00	0.850	4	0.047	0.041	2902	3029	2165	0	0	0	0	0	0	25.23	24.95	24.31
5773	0.42	195.5	524.0	13.4	322	5781	0.00	1.30	0.00	0.000	6	0.000	0.024	2902	2156	2148	0	0	0	0	0	0	28.83	26.05	28.83
6083	0.38	195.5	487.0	11.0	338	6090	0.15	1.38	0.00	0.000	4	0.149	0.041	2860	3032	2146	0	0	0	0	0	0	26.16	26.28	28.83
6323	0.37	218.0	464.3	9.2	350	6345	0.00	1.33	18.17	0.846	6	0.000	0.024	2862	2132	2078	0	0	0	0	0	0	28.83	26.46	25.34
6653	0.37	218.0	428.2	11.1	367	6656	0.00	1.42	0.00	0.000	4	0.000	0.041	2862	3037	2060	0	0	0	0	0	0	28.83	26.34	28.83
6884	0.36	218.0	402.3	10.6	379	6891	0.00	1.33	0.00	0.000	6	0.000	0.025	2862	2144	2060	0	0	0	0	0	0	28.83	26.50	28.83
7204	0.37	257.9	373.8	8.6	395	7244	0.00	1.33	29.52	1.128	4	0.000	0.035	2862	1290	1917	0	0	0	0	1	0	28.83	25.75	24.73
7473	0.42	341.6	354.0	7.1	408	7564	0.00	1.35	76.10	1.336	6	0.000	0.036	2862	2165	1576	0	0	0	0	1	0	28.83	26.21	23.95
7865	0.46	380.3	324.9	8.7	428	7912	0.00	1.38	35.80	1.155	4	0.000	0.042	2862	3020	1417	0	0	0	0	1	0	28.83	25.27	24.27
8124	0.50	380.3	298.4	12.4	441	8132	0.12	1.30	0.00	0.000	6	0.078	0.023	2934	2132	1420	0	0	0	0	0	0	26.06	26.10	28.83
8444	0.48	380.3	251.8	13.5	457	8452	0.15	1.40	0.00	0.000	4	0.137	0.039	2891	3033	1420	0	0	0	0	0	0	26.22	26.32	28.83
8484	0.48	380.3	246.8	13.1	459	8491	0.00	1.30	0.00	0.000	6	0.000	0.024	2891	2151	1419	0	0	0	0	0	0	28.83	26.41	28.83
8804	0.53	408.9	214.7	9.0	475	8843	0.00	0.00	27.15	1.019	6	0.000	0.000	2891	2151	1300	0	0	0	0	1	0	28.83	28.83	24.85
9144	0.59	464.6	188.7	8.1	492	9205	0.12	1.35	51.85	0.678	4	0.080	0.045	2965	3025	1065	0	0	0	0	0	0	26.34	25.56	24.98
9324	0.58	464.6	161.5	15.6	501	9332	0.15	1.30	0.00	0.000	6	0.138	0.022	2929	2145	1061	0	0	0	0	0	0	25.89	26.05	28.83
9644	0.64	508.2	126.8	8.5	517	9684	0.00	1.42	34.20	0.638	4	0.000	0.038	2930	3034	888	0	0	0	0	0	0	28.83	25.81	25.24
9815	0.72	546.2	113.4	8.7	525	9834	0.10	1.27	14.43	0.380	6	0.039	0.021	3008	2151	739	0	0	0	0	0	0	26.13	26.17	25.48
10135	0.76	553.9	76.7	9.7	541	10143	0.00	1.38	3.65	0.281	4	0.000	0.037	3008	3028	710	0	0	0	0	0	0	28.83	26.29	25.78
10265	0.82	626.2	66.3	7.5	547	10298	0.00	1.25	27.73	0.269	6	0.000	0.021	3008	2158	457	0	0	0	0	0	0	28.83	26.42	25.77
10596	0.89	650.4	35.9	9.2	572	10597	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2158	451	0	0	0	0	0	0	28.83	28.83	28.83
10898	1.00	752.8	9.9	6.5	620	10905	0.12	0.00	0.00	0.000	6	0.077	0.000	3110	2158	448	0	0	0	0	0	0	26.60	28.83	28.83
10960	end climb: SURFACE_DEPTH_REACHED
state	10960	begin surface coast
10977	end surface coast: CONTROL_FINISHED_OK
state	10977	begin surface