Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 310 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 310 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 950 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 70 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 25 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 380 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0035000001 DEVICE5 -1

T_MISSION 410 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 -20908.828 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 250 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 2 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 950 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 380

CALL_WAIT 60 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 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 -20908.828

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 410

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 250 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 70 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 25 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 2 SC_XMITPROFILE 3.0 VBD_MIN 415

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.475479 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 310 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 080413,073018,2321.542,12138.730,12,1.8,17,-3.1 TGT_NAME INSHORE2

_CALLS 1 TGT_LATLONG 2302.000,12132.600

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080413,073645,2321.765,12138.819,14,2.4,33,-3.1 MHEAD_RNG_PITCHd_Wd 201.0,38108,-10.6,-8.333,-15.41,4401

SPEED_LIMITS 0.144,0.302 D_GRID 1435

Post-dive calculations and measurements:

FINISH 0.2,1.004798 _10V_AH 10.3,29.719

SM_CCo 9449,66.53,0.060,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.41,8.02,0.77,66.53,0.034,0.044,0.060,125,2489,748,-8.29,-1.44,400.08,0,0,0,0,0,0,26.46,26.34,26.15 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2316.83,12138.91,080413,040416 MEM 323680

TT8_MAMPS 0.047936,0.047936 DATA_FILE_SIZE 16732,452

HUMID 46.37 CAP_FILE_SIZE 251512,0

INTERNAL_PRESSURE 9.63274 CFSIZE 260034560,223232000

TCM_TEMP 23.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.290, 30.5,1

SC_FREEKB 3921440 GPS 080413,101706,2321.469,12138.958,30,1.1,31,-3.1

_24V_AH 23.6,46.332

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 100.87 nil 0 0 0.00

Roll_motor 87 55 114.92 nil 0 0 0.00

VBD_pump_during_apogee 671 895 14195.28 nil 0 0 0.00

VBD_pump_during_surface 66 59 93.68 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 9421 4 944.93

Iridium_during_xfer 191 128 580.53 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 27 10.10

TT8 1913 35 708.29

LPSleep 5409 2 122.03

TT8_Active 748 35 276.88

TT8_Sampling 1472 58 885.95

TT8_CF8 352 65 238.97

TT8_Kalman 0 0 0.00

Analog_circuits 1705 15 263.56

GPS_charging 0 0 0.00

Compass 1192 5 73.56

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.28 -243.3 127 2490 830 663 0.0 0.0 0 82 0.00 0.00 -61.17 0.000 16386 0.000 0.000 127 2491 2515 2582 2449 0 0 0 0 0 0 28.83 28.83 28.83

85 -1.28 -243.3 126 2491 2586 2450 4.3 -8.3 8 117 8.85 2.08 -14.07 0.000 18948 0.213 0.041 2402 1105 3376 3437 3316 0 0 0 0 0 0 25.52 26.11 26.48

153 -1.28 -243.3 2402 1104 3438 3316 29.3 -29.0 17 159 0.00 2.17 0.00 0.000 1030 0.000 0.037 2392 2513 3377 3438 3316 0 0 0 0 0 0 28.83 26.04 28.83

478 -1.28 -243.3 2392 2512 3442 3316 134.8 -28.8 36 484 0.00 1.80 0.00 0.000 260 0.000 0.051 2383 3671 3379 3443 3316 0 0 0 0 0 0 28.83 26.14 28.83

590 -1.28 -243.3 2383 3671 3443 3319 165.9 -28.2 41 596 0.00 1.67 0.00 0.000 1030 0.000 0.024 2383 2502 3382 3443 3322 0 0 0 0 0 0 28.83 26.40 28.83

910 -1.28 -243.3 2383 2500 3445 3320 255.4 -26.4 57 917 0.00 2.08 0.00 0.000 516 0.000 0.029 2384 1106 3382 3445 3320 0 0 0 0 0 0 28.83 26.38 28.83

939 -1.28 -243.3 2383 1106 3445 3320 262.5 -26.6 58 946 0.15 2.15 0.00 0.000 3078 0.158 0.039 2412 2505 3382 3445 3320 0 0 0 0 0 0 26.01 26.28 28.83

1261 -1.28 -243.3 2412 2506 3445 3320 341.0 -24.3 74 1267 0.00 1.83 0.00 0.000 260 0.000 0.053 2404 3675 3383 3446 3320 0 0 0 0 0 0 28.83 26.27 28.83

1310 -1.28 -243.3 2404 3675 3445 3320 351.9 -24.0 76 1317 0.00 1.67 0.00 0.000 1030 0.000 0.024 2404 2491 3382 3445 3320 0 0 0 0 0 0 28.83 26.53 28.83

1634 -1.28 -243.3 2404 2490 3445 3320 425.9 -21.9 92 1640 0.00 1.85 0.00 0.000 260 0.000 0.052 2395 3671 3383 3446 3320 0 0 0 0 0 0 28.83 26.29 28.83

1674 -1.28 -243.3 2395 3671 3445 3320 432.2 -22.6 93 1682 0.00 1.67 0.00 0.000 1030 0.000 0.025 2394 2495 3382 3445 3319 0 0 0 0 0 0 28.83 26.55 28.83

1980 -1.28 -243.3 2395 2494 3445 3320 505.9 -24.1 109 1985 0.00 2.03 0.00 0.000 516 0.000 0.028 2395 1117 3382 3445 3320 0 0 0 0 0 0 28.83 26.46 28.83

2027 -1.28 -243.3 2394 1116 3445 3320 517.3 -24.5 111 2032 0.00 2.12 0.00 0.000 1030 0.000 0.039 2384 2503 3382 3445 3320 0 0 0 0 0 0 28.83 26.35 28.83

2353 -1.28 -243.3 2384 2503 3445 3318 593.2 -23.4 127 2360 0.00 2.05 0.00 0.000 516 0.000 0.028 2384 1115 3381 3445 3318 0 0 0 0 0 0 28.83 26.46 28.83

2382 -1.28 -243.3 2384 1114 3445 3317 599.5 -23.1 128 2388 0.12 2.12 0.00 0.000 3078 0.160 0.040 2406 2504 3381 3444 3318 0 0 0 0 0 0 26.12 26.34 28.83

2702 -1.28 -243.3 2406 2504 3446 3313 663.5 -19.8 139 2708 0.00 1.83 0.00 0.000 260 0.000 0.054 2399 3669 3379 3445 3313 0 0 0 0 0 0 28.83 26.28 28.83

2800 -1.28 -243.3 2398 3669 3445 3312 682.4 -19.6 142 2807 0.00 1.67 0.00 0.000 1030 0.000 0.027 2398 2511 3378 3445 3312 0 0 0 0 0 0 28.83 26.58 28.83

3135 -1.28 -243.3 2398 2511 3444 3303 746.7 -19.1 153 3142 0.00 2.08 0.00 0.000 516 0.000 0.028 2398 1104 3375 3444 3306 0 0 0 0 0 0 28.83 26.46 28.83

3175 -1.28 -243.3 2398 1104 3444 3306 753.5 -19.2 154 3181 0.00 2.15 0.00 0.000 1030 0.000 0.039 2388 2504 3375 3444 3306 0 0 0 0 0 0 28.83 26.34 28.83

3505 -1.28 -243.3 2387 2504 3443 3302 819.1 -19.2 165 3511 0.00 1.83 0.00 0.000 260 0.000 0.056 2378 3670 3371 3442 3301 0 0 0 0 0 0 28.83 26.25 28.83

3584 -1.28 -243.3 2378 3671 3442 3301 831.7 -19.1 167 3590 0.08 1.73 0.00 0.000 3078 0.128 0.027 2405 2510 3371 3442 3301 0 0 0 0 0 0 26.26 26.58 28.83

3904 -1.28 -243.3 2405 2511 3441 3297 895.0 -19.3 178 3910 0.00 2.08 0.00 0.000 516 0.000 0.028 2405 1105 3369 3441 3297 0 0 0 0 0 0 28.83 26.44 28.83

3968 -1.28 -243.3 2405 1105 3441 3296 907.5 -19.2 180 3974 0.00 2.15 0.00 0.000 1030 0.000 0.041 2396 2501 3368 3441 3296 0 0 0 0 0 0 28.83 26.30 28.83

4181 end dive: TARGET_DEPTH_EXCEEDED

state 4181 begin apogee

4188 -0.20 0.0 2395 1984 3440 3293 953.7 -21.9 187 4575 1.08 0.00 378.55 0.769 10246 0.114 0.000 2751 1984 2380 2534 2226 0 0 0 0 0 0 25.87 28.83 24.11

4576 end apogee: CONTROL_FINISHED_OK

state 4577 begin climb

4579 1.28 243.3 2750 1984 2527 2214 988.0 0.0 199 4869 1.33 2.33 273.42 0.896 10756 0.044 0.035 3254 627 1373 1483 1263 0 0 0 0 0 0 24.94 24.34 23.56

4933 1.28 243.3 3254 626 1465 1248 941.1 24.2 209 4941 0.00 2.20 0.00 0.000 1030 0.000 0.031 3254 2010 1356 1465 1247 0 0 0 0 0 0 28.83 25.08 28.83

5241 1.28 243.3 3254 2010 1457 1239 849.3 27.3 220 5242 0.00 0.00 0.00 0.000 6 0.000 0.000 3254 2010 1347 1457 1237 0 0 0 0 0 0 28.83 28.83 28.83

5538 1.28 243.3 3254 2010 1453 1237 766.7 27.1 230 5544 0.00 2.20 0.00 0.000 260 0.000 0.046 3254 3411 1345 1454 1237 0 0 0 0 0 0 28.83 26.16 28.83

5574 1.28 243.3 3254 3411 1453 1238 756.8 27.6 231 5581 0.12 2.10 0.00 0.000 5126 0.182 0.028 3234 2013 1345 1453 1238 0 0 0 0 0 0 25.93 26.27 28.83

5910 1.28 243.3 3234 2012 1452 1236 671.8 24.8 242 5916 0.00 2.15 0.00 0.000 516 0.000 0.038 3245 610 1344 1452 1236 0 0 0 0 0 0 28.83 26.29 28.83

5930 1.28 243.3 3246 610 1451 1236 671.8 24.8 242 5936 0.00 2.10 0.00 0.000 1030 0.000 0.031 3245 2006 1344 1452 1236 0 0 0 0 0 0 28.83 26.32 28.83

6241 1.28 243.3 3245 2006 1450 1236 593.8 23.5 253 6247 0.00 2.17 0.00 0.000 260 0.000 0.046 3245 3401 1342 1448 1236 0 0 0 0 0 0 28.83 26.29 28.83

6318 1.28 243.3 3245 3401 1451 1236 575.7 26.1 256 6324 0.00 2.08 0.00 0.000 1030 0.000 0.028 3257 2006 1342 1450 1235 0 0 0 0 0 0 28.83 26.41 28.83

6633 1.28 243.3 3257 2006 1450 1234 491.5 24.9 272 6639 0.00 2.15 0.00 0.000 516 0.000 0.039 3268 603 1342 1450 1234 0 0 0 0 0 0 28.83 26.34 28.83

6714 1.28 243.3 3268 603 1449 1234 473.5 26.2 275 6723 0.15 2.10 0.00 0.000 5126 0.168 0.032 3229 2003 1341 1450 1233 0 0 0 0 0 0 26.03 26.39 28.83

7020 1.28 243.3 3228 2003 1449 1231 396.5 22.0 291 7021 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 2003 1340 1449 1231 0 0 0 0 0 0 28.83 28.83 28.83

7321 1.28 243.3 3228 2003 1449 1231 332.8 21.2 306 7326 0.00 2.17 0.00 0.000 260 0.000 0.045 3229 3401 1339 1449 1230 0 0 0 0 0 0 28.83 26.32 28.83

7410 1.28 243.3 3228 3402 1449 1231 313.1 22.8 310 7416 0.00 2.10 0.00 0.000 1030 0.000 0.029 3240 1989 1340 1449 1231 0 0 0 0 0 0 28.83 26.47 28.83

7731 1.28 243.3 3239 1990 1448 1230 241.0 21.2 326 7737 0.00 2.22 0.00 0.000 260 0.000 0.045 3240 3411 1339 1448 1230 0 0 0 0 0 0 28.83 26.32 28.83

7761 1.28 243.3 3239 3411 1448 1230 235.0 21.4 327 7767 0.00 2.10 0.00 0.000 1030 0.000 0.029 3251 1996 1339 1448 1230 0 0 0 0 0 0 28.83 26.46 28.83

8082 1.28 243.3 3251 1996 1449 1230 166.3 19.9 343 8089 0.00 2.12 0.00 0.000 516 0.000 0.040 3262 607 1339 1448 1230 0 0 0 0 0 0 28.83 26.35 28.83

8238 1.28 243.3 3262 607 1447 1230 133.4 21.4 350 8245 0.12 2.08 0.00 0.000 5126 0.162 0.031 3230 2001 1338 1447 1230 0 0 0 0 0 0 26.12 26.42 28.83

8559 1.28 243.3 3230 2001 1447 1229 85.4 10.8 366 8565 0.00 2.12 0.00 0.000 516 0.000 0.038 3241 610 1336 1447 1226 0 0 0 0 0 0 28.83 26.35 28.83

8594 1.28 243.3 3241 609 1447 1228 82.5 10.8 367 8600 0.00 2.10 0.00 0.000 1030 0.000 0.031 3241 2008 1337 1446 1228 0 0 0 0 0 0 28.83 26.42 28.83

8909 1.35 264.7 3241 2008 1447 1228 55.3 7.8 383 8933 0.00 2.22 19.48 0.386 8452 0.000 0.045 3241 3401 1296 1412 1181 0 0 0 0 0 0 28.83 26.34 25.67

9168 1.35 264.7 3241 3400 1392 1170 27.0 11.0 404 9176 0.00 2.08 0.00 0.000 1030 0.000 0.027 3253 1991 1281 1392 1170 0 0 0 0 0 0 28.83 26.42 28.83

9399 end climb: SURFACE_DEPTH_REACHED

state 9399 begin surface coast

9428 end surface coast: CONTROL_FINISHED_OK

state 9428 begin surface

ID	171	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	310	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	950	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	70	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	25	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	380	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0035000001	DEVICE5	-1
T_MISSION	410	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	-20908.828	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	250	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	2	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	080413,073018,2321.542,12138.730,12,1.8,17,-3.1	TGT_NAME	INSHORE2
_CALLS	1	TGT_LATLONG	2302.000,12132.600
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080413,073645,2321.765,12138.819,14,2.4,33,-3.1	MHEAD_RNG_PITCHd_Wd	201.0,38108,-10.6,-8.333,-15.41,4401
SPEED_LIMITS	0.144,0.302	D_GRID	1435

FINISH	0.2,1.004798	_10V_AH	10.3,29.719
SM_CCo	9449,66.53,0.060,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.41,8.02,0.77,66.53,0.034,0.044,0.060,125,2489,748,-8.29,-1.44,400.08,0,0,0,0,0,0,26.46,26.34,26.15	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2316.83,12138.91,080413,040416	MEM	323680
TT8_MAMPS	0.047936,0.047936	DATA_FILE_SIZE	16732,452
HUMID	46.37	CAP_FILE_SIZE	251512,0
INTERNAL_PRESSURE	9.63274	CFSIZE	260034560,223232000
TCM_TEMP	23.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.290, 30.5,1
SC_FREEKB	3921440	GPS	080413,101706,2321.469,12138.958,30,1.1,31,-3.1
_24V_AH	23.6,46.332

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	100.87	nil	0	0	0.00
Roll_motor	87	55	114.92	nil	0	0	0.00
VBD_pump_during_apogee	671	895	14195.28	nil	0	0	0.00
VBD_pump_during_surface	66	59	93.68	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	9421	4	944.93
Iridium_during_xfer	191	128	580.53	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	27	10.10
TT8	1913	35	708.29
LPSleep	5409	2	122.03
TT8_Active	748	35	276.88
TT8_Sampling	1472	58	885.95
TT8_CF8	352	65	238.97
TT8_Kalman	0	0	0.00
Analog_circuits	1705	15	263.56
GPS_charging	0	0	0.00
Compass	1192	5	73.56
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.28	-243.3	127	2490	830	663	0.0	0.0	0	82	0.00	0.00	-61.17	0.000	16386	0.000	0.000	127	2491	2515	2582	2449	0	0	0	0	0	0	28.83	28.83	28.83
85	-1.28	-243.3	126	2491	2586	2450	4.3	-8.3	8	117	8.85	2.08	-14.07	0.000	18948	0.213	0.041	2402	1105	3376	3437	3316	0	0	0	0	0	0	25.52	26.11	26.48
153	-1.28	-243.3	2402	1104	3438	3316	29.3	-29.0	17	159	0.00	2.17	0.00	0.000	1030	0.000	0.037	2392	2513	3377	3438	3316	0	0	0	0	0	0	28.83	26.04	28.83
478	-1.28	-243.3	2392	2512	3442	3316	134.8	-28.8	36	484	0.00	1.80	0.00	0.000	260	0.000	0.051	2383	3671	3379	3443	3316	0	0	0	0	0	0	28.83	26.14	28.83
590	-1.28	-243.3	2383	3671	3443	3319	165.9	-28.2	41	596	0.00	1.67	0.00	0.000	1030	0.000	0.024	2383	2502	3382	3443	3322	0	0	0	0	0	0	28.83	26.40	28.83
910	-1.28	-243.3	2383	2500	3445	3320	255.4	-26.4	57	917	0.00	2.08	0.00	0.000	516	0.000	0.029	2384	1106	3382	3445	3320	0	0	0	0	0	0	28.83	26.38	28.83
939	-1.28	-243.3	2383	1106	3445	3320	262.5	-26.6	58	946	0.15	2.15	0.00	0.000	3078	0.158	0.039	2412	2505	3382	3445	3320	0	0	0	0	0	0	26.01	26.28	28.83
1261	-1.28	-243.3	2412	2506	3445	3320	341.0	-24.3	74	1267	0.00	1.83	0.00	0.000	260	0.000	0.053	2404	3675	3383	3446	3320	0	0	0	0	0	0	28.83	26.27	28.83
1310	-1.28	-243.3	2404	3675	3445	3320	351.9	-24.0	76	1317	0.00	1.67	0.00	0.000	1030	0.000	0.024	2404	2491	3382	3445	3320	0	0	0	0	0	0	28.83	26.53	28.83
1634	-1.28	-243.3	2404	2490	3445	3320	425.9	-21.9	92	1640	0.00	1.85	0.00	0.000	260	0.000	0.052	2395	3671	3383	3446	3320	0	0	0	0	0	0	28.83	26.29	28.83
1674	-1.28	-243.3	2395	3671	3445	3320	432.2	-22.6	93	1682	0.00	1.67	0.00	0.000	1030	0.000	0.025	2394	2495	3382	3445	3319	0	0	0	0	0	0	28.83	26.55	28.83
1980	-1.28	-243.3	2395	2494	3445	3320	505.9	-24.1	109	1985	0.00	2.03	0.00	0.000	516	0.000	0.028	2395	1117	3382	3445	3320	0	0	0	0	0	0	28.83	26.46	28.83
2027	-1.28	-243.3	2394	1116	3445	3320	517.3	-24.5	111	2032	0.00	2.12	0.00	0.000	1030	0.000	0.039	2384	2503	3382	3445	3320	0	0	0	0	0	0	28.83	26.35	28.83
2353	-1.28	-243.3	2384	2503	3445	3318	593.2	-23.4	127	2360	0.00	2.05	0.00	0.000	516	0.000	0.028	2384	1115	3381	3445	3318	0	0	0	0	0	0	28.83	26.46	28.83
2382	-1.28	-243.3	2384	1114	3445	3317	599.5	-23.1	128	2388	0.12	2.12	0.00	0.000	3078	0.160	0.040	2406	2504	3381	3444	3318	0	0	0	0	0	0	26.12	26.34	28.83
2702	-1.28	-243.3	2406	2504	3446	3313	663.5	-19.8	139	2708	0.00	1.83	0.00	0.000	260	0.000	0.054	2399	3669	3379	3445	3313	0	0	0	0	0	0	28.83	26.28	28.83
2800	-1.28	-243.3	2398	3669	3445	3312	682.4	-19.6	142	2807	0.00	1.67	0.00	0.000	1030	0.000	0.027	2398	2511	3378	3445	3312	0	0	0	0	0	0	28.83	26.58	28.83
3135	-1.28	-243.3	2398	2511	3444	3303	746.7	-19.1	153	3142	0.00	2.08	0.00	0.000	516	0.000	0.028	2398	1104	3375	3444	3306	0	0	0	0	0	0	28.83	26.46	28.83
3175	-1.28	-243.3	2398	1104	3444	3306	753.5	-19.2	154	3181	0.00	2.15	0.00	0.000	1030	0.000	0.039	2388	2504	3375	3444	3306	0	0	0	0	0	0	28.83	26.34	28.83
3505	-1.28	-243.3	2387	2504	3443	3302	819.1	-19.2	165	3511	0.00	1.83	0.00	0.000	260	0.000	0.056	2378	3670	3371	3442	3301	0	0	0	0	0	0	28.83	26.25	28.83
3584	-1.28	-243.3	2378	3671	3442	3301	831.7	-19.1	167	3590	0.08	1.73	0.00	0.000	3078	0.128	0.027	2405	2510	3371	3442	3301	0	0	0	0	0	0	26.26	26.58	28.83
3904	-1.28	-243.3	2405	2511	3441	3297	895.0	-19.3	178	3910	0.00	2.08	0.00	0.000	516	0.000	0.028	2405	1105	3369	3441	3297	0	0	0	0	0	0	28.83	26.44	28.83
3968	-1.28	-243.3	2405	1105	3441	3296	907.5	-19.2	180	3974	0.00	2.15	0.00	0.000	1030	0.000	0.041	2396	2501	3368	3441	3296	0	0	0	0	0	0	28.83	26.30	28.83
4181	end dive: TARGET_DEPTH_EXCEEDED
state	4181	begin apogee
4188	-0.20	0.0	2395	1984	3440	3293	953.7	-21.9	187	4575	1.08	0.00	378.55	0.769	10246	0.114	0.000	2751	1984	2380	2534	2226	0	0	0	0	0	0	25.87	28.83	24.11
4576	end apogee: CONTROL_FINISHED_OK
state	4577	begin climb
4579	1.28	243.3	2750	1984	2527	2214	988.0	0.0	199	4869	1.33	2.33	273.42	0.896	10756	0.044	0.035	3254	627	1373	1483	1263	0	0	0	0	0	0	24.94	24.34	23.56
4933	1.28	243.3	3254	626	1465	1248	941.1	24.2	209	4941	0.00	2.20	0.00	0.000	1030	0.000	0.031	3254	2010	1356	1465	1247	0	0	0	0	0	0	28.83	25.08	28.83
5241	1.28	243.3	3254	2010	1457	1239	849.3	27.3	220	5242	0.00	0.00	0.00	0.000	6	0.000	0.000	3254	2010	1347	1457	1237	0	0	0	0	0	0	28.83	28.83	28.83
5538	1.28	243.3	3254	2010	1453	1237	766.7	27.1	230	5544	0.00	2.20	0.00	0.000	260	0.000	0.046	3254	3411	1345	1454	1237	0	0	0	0	0	0	28.83	26.16	28.83
5574	1.28	243.3	3254	3411	1453	1238	756.8	27.6	231	5581	0.12	2.10	0.00	0.000	5126	0.182	0.028	3234	2013	1345	1453	1238	0	0	0	0	0	0	25.93	26.27	28.83
5910	1.28	243.3	3234	2012	1452	1236	671.8	24.8	242	5916	0.00	2.15	0.00	0.000	516	0.000	0.038	3245	610	1344	1452	1236	0	0	0	0	0	0	28.83	26.29	28.83
5930	1.28	243.3	3246	610	1451	1236	671.8	24.8	242	5936	0.00	2.10	0.00	0.000	1030	0.000	0.031	3245	2006	1344	1452	1236	0	0	0	0	0	0	28.83	26.32	28.83
6241	1.28	243.3	3245	2006	1450	1236	593.8	23.5	253	6247	0.00	2.17	0.00	0.000	260	0.000	0.046	3245	3401	1342	1448	1236	0	0	0	0	0	0	28.83	26.29	28.83
6318	1.28	243.3	3245	3401	1451	1236	575.7	26.1	256	6324	0.00	2.08	0.00	0.000	1030	0.000	0.028	3257	2006	1342	1450	1235	0	0	0	0	0	0	28.83	26.41	28.83
6633	1.28	243.3	3257	2006	1450	1234	491.5	24.9	272	6639	0.00	2.15	0.00	0.000	516	0.000	0.039	3268	603	1342	1450	1234	0	0	0	0	0	0	28.83	26.34	28.83
6714	1.28	243.3	3268	603	1449	1234	473.5	26.2	275	6723	0.15	2.10	0.00	0.000	5126	0.168	0.032	3229	2003	1341	1450	1233	0	0	0	0	0	0	26.03	26.39	28.83
7020	1.28	243.3	3228	2003	1449	1231	396.5	22.0	291	7021	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	2003	1340	1449	1231	0	0	0	0	0	0	28.83	28.83	28.83
7321	1.28	243.3	3228	2003	1449	1231	332.8	21.2	306	7326	0.00	2.17	0.00	0.000	260	0.000	0.045	3229	3401	1339	1449	1230	0	0	0	0	0	0	28.83	26.32	28.83
7410	1.28	243.3	3228	3402	1449	1231	313.1	22.8	310	7416	0.00	2.10	0.00	0.000	1030	0.000	0.029	3240	1989	1340	1449	1231	0	0	0	0	0	0	28.83	26.47	28.83
7731	1.28	243.3	3239	1990	1448	1230	241.0	21.2	326	7737	0.00	2.22	0.00	0.000	260	0.000	0.045	3240	3411	1339	1448	1230	0	0	0	0	0	0	28.83	26.32	28.83
7761	1.28	243.3	3239	3411	1448	1230	235.0	21.4	327	7767	0.00	2.10	0.00	0.000	1030	0.000	0.029	3251	1996	1339	1448	1230	0	0	0	0	0	0	28.83	26.46	28.83
8082	1.28	243.3	3251	1996	1449	1230	166.3	19.9	343	8089	0.00	2.12	0.00	0.000	516	0.000	0.040	3262	607	1339	1448	1230	0	0	0	0	0	0	28.83	26.35	28.83
8238	1.28	243.3	3262	607	1447	1230	133.4	21.4	350	8245	0.12	2.08	0.00	0.000	5126	0.162	0.031	3230	2001	1338	1447	1230	0	0	0	0	0	0	26.12	26.42	28.83
8559	1.28	243.3	3230	2001	1447	1229	85.4	10.8	366	8565	0.00	2.12	0.00	0.000	516	0.000	0.038	3241	610	1336	1447	1226	0	0	0	0	0	0	28.83	26.35	28.83
8594	1.28	243.3	3241	609	1447	1228	82.5	10.8	367	8600	0.00	2.10	0.00	0.000	1030	0.000	0.031	3241	2008	1337	1446	1228	0	0	0	0	0	0	28.83	26.42	28.83
8909	1.35	264.7	3241	2008	1447	1228	55.3	7.8	383	8933	0.00	2.22	19.48	0.386	8452	0.000	0.045	3241	3401	1296	1412	1181	0	0	0	0	0	0	28.83	26.34	25.67
9168	1.35	264.7	3241	3400	1392	1170	27.0	11.0	404	9176	0.00	2.08	0.00	0.000	1030	0.000	0.027	3253	1991	1281	1392	1170	0	0	0	0	0	0	28.83	26.42	28.83
9399	end climb: SURFACE_DEPTH_REACHED
state	9399	begin surface coast
9428	end surface coast: CONTROL_FINISHED_OK
state	9428	begin surface