Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 319 * 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 319 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 53 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 40 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 -20920.135 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 -20920.135

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 53 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 40 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 319 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 090413,082535,2323.482,12137.106,27,1.1,28,-3.1 TGT_NAME ININSHORE1

_CALLS 1 TGT_LATLONG 2322.300,12134.500

_XMS_NAKs 0 TGT_RADIUS 1500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090413,083200,2323.769,12137.212,15,1.1,15,-3.1 MHEAD_RNG_PITCHd_Wd 214.4,5354,-10.6,-8.333,-15.41,4401

SPEED_LIMITS 0.144,0.302 D_GRID 1495

Post-dive calculations and measurements:

FINISH 0.6,1.022293 _10V_AH 10.2,30.443

SM_CCo 9310,74.18,0.063,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.20,8.02,2.92,74.18,0.033,0.035,0.063,135,2482,748,-8.29,-1.64,400.08,0,0,0,0,0,0,26.45,26.29,26.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2316.83,12138.91,090413,050549 MEM 323276

TT8_MAMPS 0.047187,0.047187 DATA_FILE_SIZE 16783,451

HUMID 47.59 CAP_FILE_SIZE 246176,0

INTERNAL_PRESSURE 9.61321 CFSIZE 260034560,222461952

TCM_TEMP 22.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.277, 16.7,1

SC_FREEKB 3918656 GPS 090413,111035,2323.850,12136.601,46,1.2,57,-3.1

_24V_AH 23.5,47.789

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 215 101.65 nil 0 0 0.00

Roll_motor 88 54 112.39 nil 0 0 0.00

VBD_pump_during_apogee 644 892 13510.95 nil 0 0 0.00

VBD_pump_during_surface 74 62 109.35 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 9280 4 917.90

Iridium_during_xfer 216 121 619.71 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 27 4.49

TT8 1868 35 684.91

LPSleep 5377 2 120.13

TT8_Active 732 35 268.50

TT8_Sampling 1430 58 852.33

TT8_CF8 360 65 241.99

TT8_Kalman 0 0 0.00

Analog_circuits 1690 15 258.68

GPS_charging 0 0 0.00

Compass 1148 5 70.15

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

19 -1.28 -243.3 126 2500 840 658 0.0 0.0 0 75 0.00 0.00 -54.35 0.000 16386 0.000 0.000 126 2501 2299 2332 2267 0 0 0 0 0 0 28.83 28.83 28.83

79 -1.28 -243.3 127 2501 2336 2267 3.0 -5.1 7 119 8.90 2.15 -18.80 0.000 18948 0.216 0.043 2398 1099 3377 3437 3317 0 0 0 0 0 0 25.54 26.15 26.53

232 -1.28 -243.3 2398 1099 3442 3317 53.4 -28.2 24 239 0.00 2.15 0.00 0.000 1030 0.000 0.038 2390 2498 3379 3441 3317 0 0 0 0 0 0 28.83 26.11 28.83

553 -1.28 -243.3 2389 2498 3446 3320 148.4 -28.3 40 559 0.00 2.10 0.00 0.000 516 0.000 0.028 2389 1088 3383 3446 3321 0 0 0 0 0 0 28.83 26.32 28.83

594 -1.28 -243.3 2389 1088 3446 3321 155.8 -28.5 41 603 0.12 2.17 0.00 0.000 3078 0.163 0.037 2410 2505 3383 3446 3321 0 0 0 0 0 0 25.99 26.23 28.83

899 -1.28 -243.3 2410 2504 3448 3322 240.0 -24.7 57 904 0.00 1.83 0.00 0.000 260 0.000 0.052 2402 3676 3385 3448 3322 0 0 0 0 0 0 28.83 26.23 28.83

1032 -1.28 -243.3 2402 3675 3448 3322 272.8 -24.6 63 1039 0.00 1.75 0.00 0.000 1030 0.000 0.024 2402 2480 3383 3445 3322 0 0 0 0 0 0 28.83 26.51 28.83

1353 -1.28 -243.3 2402 2478 3448 3322 352.4 -23.8 79 1360 0.00 2.00 0.00 0.000 516 0.000 0.029 2402 1112 3385 3448 3322 0 0 0 0 0 0 28.83 26.44 28.83

1401 -1.28 -243.3 2401 1113 3448 3322 362.6 -22.7 81 1408 0.00 2.12 0.00 0.000 1030 0.000 0.037 2391 2503 3385 3448 3322 0 0 0 0 0 0 28.83 26.33 28.83

1729 -1.28 -243.3 2390 2506 3448 3322 438.2 -23.1 97 1734 0.00 2.05 0.00 0.000 516 0.000 0.028 2391 1111 3385 3448 3322 0 0 0 0 0 0 28.83 26.46 28.83

1753 -1.28 -243.3 2391 1111 3447 3322 444.5 -23.2 98 1759 0.00 2.12 0.00 0.000 1030 0.000 0.037 2380 2501 3385 3448 3322 0 0 0 0 0 0 28.83 26.34 28.83

2079 -1.28 -243.3 2380 2501 3448 3322 520.4 -23.0 114 2086 0.12 1.83 0.00 0.000 2308 0.163 0.051 2412 3672 3384 3448 3321 0 0 0 0 0 0 26.32 26.29 28.83

2107 -1.28 -243.3 2411 3672 3447 3322 526.5 -22.5 115 2113 0.00 1.67 0.00 0.000 1030 0.000 0.027 2412 2504 3384 3447 3321 0 0 0 0 0 0 28.83 26.57 28.83

2431 -1.28 -243.3 2411 2504 3448 3318 590.7 -20.4 131 2436 0.00 2.05 0.00 0.000 516 0.000 0.029 2412 1109 3382 3447 3318 0 0 0 0 0 0 28.83 26.46 28.83

2482 -1.28 -243.3 2411 1109 3447 3318 600.9 -20.8 133 2488 0.00 2.12 0.00 0.000 1030 0.000 0.037 2401 2505 3382 3447 3318 0 0 0 0 0 0 28.83 26.35 28.83

2802 -1.28 -243.3 2401 2505 3447 3313 670.4 -20.8 144 2807 0.00 1.83 0.00 0.000 260 0.000 0.054 2392 3674 3379 3447 3312 0 0 0 0 0 0 28.83 26.26 28.83

2851 -1.28 -243.3 2392 3674 3447 3312 677.6 -20.8 145 2857 0.00 1.70 0.00 0.000 1030 0.000 0.027 2392 2490 3379 3447 3312 0 0 0 0 0 0 28.83 26.58 28.83

3171 -1.28 -243.3 2391 2490 3446 3307 743.8 -20.0 156 3172 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2490 3376 3446 3307 0 0 0 0 0 0 28.83 28.83 28.83

3471 -1.28 -243.3 2392 2489 3445 3304 803.0 -19.4 166 3472 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2490 3374 3444 3305 0 0 0 0 0 0 28.83 28.83 28.83

3772 -1.28 -243.3 2392 2490 3443 3301 860.3 -19.7 176 3777 0.00 1.88 0.00 0.000 260 0.000 0.054 2383 3674 3372 3443 3301 0 0 0 0 0 0 28.83 26.25 28.83

3806 -1.28 -243.3 2383 3675 3442 3301 867.1 -19.6 177 3812 0.00 1.70 0.00 0.000 1030 0.000 0.028 2383 2509 3371 3443 3300 0 0 0 0 0 0 28.83 26.55 28.83

4141 -1.28 -243.3 2383 2509 3442 3297 932.0 -19.4 188 4147 0.00 2.08 0.00 0.000 516 0.000 0.029 2383 1106 3369 3441 3297 0 0 0 0 0 0 28.83 26.43 28.83

4164 -1.28 -243.3 2383 1105 3441 3297 932.0 -19.4 188 4171 0.15 2.15 0.00 0.000 3078 0.150 0.040 2413 2505 3369 3441 3297 0 0 0 0 0 0 26.03 26.30 28.83

4239 end dive: TARGET_DEPTH_EXCEEDED

state 4239 begin apogee

4246 -0.20 0.0 2413 1986 3441 3295 950.1 -18.7 191 4632 1.02 0.00 376.48 0.758 10246 0.112 0.000 2754 1985 2377 2531 2223 0 0 0 0 0 0 25.85 28.83 24.15

4634 end apogee: CONTROL_FINISHED_OK

state 4634 begin climb

4636 1.28 243.3 2754 1986 2526 2212 975.5 0.0 203 4914 1.30 2.22 267.52 0.893 10756 0.043 0.033 3252 631 1378 1490 1267 0 0 0 0 0 0 24.99 24.36 23.55

4938 1.28 243.3 3251 631 1473 1250 935.4 21.6 212 4945 0.00 2.22 0.00 0.000 1030 0.000 0.030 3252 2012 1359 1469 1249 0 0 0 0 0 0 28.83 24.74 28.83

5269 1.28 243.3 3251 2012 1458 1239 844.9 27.4 223 5275 0.00 2.20 0.00 0.000 260 0.000 0.046 3252 3405 1348 1458 1239 0 0 0 0 0 0 28.83 25.94 28.83

5325 1.28 243.3 3252 3405 1457 1239 835.3 27.0 224 5331 0.12 2.10 0.00 0.000 5126 0.181 0.028 3232 2009 1348 1457 1239 0 0 0 0 0 0 25.77 26.09 28.83

5640 1.28 243.3 3232 2009 1454 1238 747.4 25.5 235 5646 0.00 2.20 0.00 0.000 260 0.000 0.045 3233 3406 1345 1454 1237 0 0 0 0 0 0 28.83 26.17 28.83

5695 1.28 243.3 3232 3406 1454 1237 737.8 26.1 236 5701 0.00 2.10 0.00 0.000 1030 0.000 0.028 3244 1997 1345 1454 1237 0 0 0 0 0 0 28.83 26.29 28.83

6012 1.28 243.3 3244 1996 1453 1236 650.7 25.5 247 6017 0.00 2.12 0.00 0.000 516 0.000 0.039 3255 609 1344 1452 1236 0 0 0 0 0 0 28.83 26.28 28.83

6057 1.28 243.3 3255 609 1453 1236 640.8 25.9 248 6063 0.00 2.10 0.00 0.000 1030 0.000 0.031 3256 2012 1344 1453 1236 0 0 0 0 0 0 28.83 26.34 28.83

6382 1.28 243.3 3255 2011 1452 1235 550.2 26.8 262 6388 0.00 2.17 0.00 0.000 260 0.000 0.046 3255 3403 1343 1452 1235 0 0 0 0 0 0 28.83 26.29 28.83

6410 1.28 243.3 3255 3403 1452 1235 543.5 26.8 263 6417 0.15 2.08 0.00 0.000 5126 0.171 0.030 3227 2005 1343 1452 1235 0 0 0 0 0 0 26.02 26.41 28.83

6733 1.28 243.3 3227 2005 1450 1234 467.7 22.1 279 6739 0.00 2.15 0.00 0.000 516 0.000 0.040 3238 601 1342 1450 1234 0 0 0 0 0 0 28.83 26.34 28.83

6809 1.28 243.3 3238 601 1451 1233 452.9 21.5 282 6815 0.00 2.10 0.00 0.000 1030 0.000 0.031 3238 1999 1341 1450 1233 0 0 0 0 0 0 28.83 26.39 28.83

7124 1.28 243.3 3238 1999 1450 1233 380.8 22.3 298 7125 0.00 0.00 0.00 0.000 6 0.000 0.000 3238 1999 1341 1450 1233 0 0 0 0 0 0 28.83 28.83 28.83

7425 1.28 243.3 3238 1999 1450 1230 314.9 21.9 313 7431 0.00 2.20 0.00 0.000 260 0.000 0.046 3238 3406 1339 1447 1231 0 0 0 0 0 0 28.83 26.32 28.83

7454 1.28 243.3 3238 3406 1450 1231 308.9 22.6 314 7460 0.00 2.10 0.00 0.000 1030 0.000 0.030 3250 1994 1340 1450 1231 0 0 0 0 0 0 28.83 26.44 28.83

7775 1.28 243.3 3250 1995 1449 1230 234.8 22.6 330 7782 0.00 2.20 0.00 0.000 260 0.000 0.045 3250 3407 1339 1449 1230 0 0 0 0 0 0 28.83 26.31 28.83

7892 1.28 243.3 3249 3407 1449 1231 209.6 23.2 335 7899 0.12 2.10 0.00 0.000 5126 0.174 0.029 3229 1992 1340 1449 1231 0 0 0 0 0 0 26.09 26.46 28.83

8209 1.28 243.3 3229 1992 1449 1230 140.1 20.9 351 8215 0.00 2.12 0.00 0.000 516 0.000 0.039 3240 606 1339 1449 1230 0 0 0 0 0 0 28.83 26.34 28.83

8276 1.28 243.3 3240 606 1448 1230 125.4 21.2 354 8282 0.00 2.08 0.00 0.000 1030 0.000 0.030 3240 2006 1339 1449 1230 0 0 0 0 0 0 28.83 26.43 28.83

8604 1.28 243.3 3240 2006 1449 1231 68.9 11.3 370 8610 0.00 2.15 0.00 0.000 516 0.000 0.039 3251 603 1339 1448 1230 0 0 0 0 0 0 28.83 26.34 28.83

8842 1.28 243.3 3251 603 1449 1229 42.4 9.1 385 8849 0.00 2.08 0.00 0.000 1030 0.000 0.029 3251 2008 1339 1449 1229 0 0 0 0 0 0 28.83 26.44 28.83

9161 1.28 243.3 3251 2007 1448 1229 12.4 9.0 428 9170 0.00 2.15 0.00 0.000 516 0.000 0.039 3263 600 1339 1449 1229 0 0 0 0 0 0 28.83 26.34 28.83

9266 end climb: SURFACE_DEPTH_REACHED

state 9266 begin surface coast

9289 end surface coast: CONTROL_FINISHED_OK

state 9289 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	319	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	53	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	40	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	-20920.135	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	090413,082535,2323.482,12137.106,27,1.1,28,-3.1	TGT_NAME	ININSHORE1
_CALLS	1	TGT_LATLONG	2322.300,12134.500
_XMS_NAKs	0	TGT_RADIUS	1500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090413,083200,2323.769,12137.212,15,1.1,15,-3.1	MHEAD_RNG_PITCHd_Wd	214.4,5354,-10.6,-8.333,-15.41,4401
SPEED_LIMITS	0.144,0.302	D_GRID	1495

FINISH	0.6,1.022293	_10V_AH	10.2,30.443
SM_CCo	9310,74.18,0.063,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.20,8.02,2.92,74.18,0.033,0.035,0.063,135,2482,748,-8.29,-1.64,400.08,0,0,0,0,0,0,26.45,26.29,26.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2316.83,12138.91,090413,050549	MEM	323276
TT8_MAMPS	0.047187,0.047187	DATA_FILE_SIZE	16783,451
HUMID	47.59	CAP_FILE_SIZE	246176,0
INTERNAL_PRESSURE	9.61321	CFSIZE	260034560,222461952
TCM_TEMP	22.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.277, 16.7,1
SC_FREEKB	3918656	GPS	090413,111035,2323.850,12136.601,46,1.2,57,-3.1
_24V_AH	23.5,47.789

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	215	101.65	nil	0	0	0.00
Roll_motor	88	54	112.39	nil	0	0	0.00
VBD_pump_during_apogee	644	892	13510.95	nil	0	0	0.00
VBD_pump_during_surface	74	62	109.35	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	9280	4	917.90
Iridium_during_xfer	216	121	619.71	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	27	4.49
TT8	1868	35	684.91
LPSleep	5377	2	120.13
TT8_Active	732	35	268.50
TT8_Sampling	1430	58	852.33
TT8_CF8	360	65	241.99
TT8_Kalman	0	0	0.00
Analog_circuits	1690	15	258.68
GPS_charging	0	0	0.00
Compass	1148	5	70.15
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
19	-1.28	-243.3	126	2500	840	658	0.0	0.0	0	75	0.00	0.00	-54.35	0.000	16386	0.000	0.000	126	2501	2299	2332	2267	0	0	0	0	0	0	28.83	28.83	28.83
79	-1.28	-243.3	127	2501	2336	2267	3.0	-5.1	7	119	8.90	2.15	-18.80	0.000	18948	0.216	0.043	2398	1099	3377	3437	3317	0	0	0	0	0	0	25.54	26.15	26.53
232	-1.28	-243.3	2398	1099	3442	3317	53.4	-28.2	24	239	0.00	2.15	0.00	0.000	1030	0.000	0.038	2390	2498	3379	3441	3317	0	0	0	0	0	0	28.83	26.11	28.83
553	-1.28	-243.3	2389	2498	3446	3320	148.4	-28.3	40	559	0.00	2.10	0.00	0.000	516	0.000	0.028	2389	1088	3383	3446	3321	0	0	0	0	0	0	28.83	26.32	28.83
594	-1.28	-243.3	2389	1088	3446	3321	155.8	-28.5	41	603	0.12	2.17	0.00	0.000	3078	0.163	0.037	2410	2505	3383	3446	3321	0	0	0	0	0	0	25.99	26.23	28.83
899	-1.28	-243.3	2410	2504	3448	3322	240.0	-24.7	57	904	0.00	1.83	0.00	0.000	260	0.000	0.052	2402	3676	3385	3448	3322	0	0	0	0	0	0	28.83	26.23	28.83
1032	-1.28	-243.3	2402	3675	3448	3322	272.8	-24.6	63	1039	0.00	1.75	0.00	0.000	1030	0.000	0.024	2402	2480	3383	3445	3322	0	0	0	0	0	0	28.83	26.51	28.83
1353	-1.28	-243.3	2402	2478	3448	3322	352.4	-23.8	79	1360	0.00	2.00	0.00	0.000	516	0.000	0.029	2402	1112	3385	3448	3322	0	0	0	0	0	0	28.83	26.44	28.83
1401	-1.28	-243.3	2401	1113	3448	3322	362.6	-22.7	81	1408	0.00	2.12	0.00	0.000	1030	0.000	0.037	2391	2503	3385	3448	3322	0	0	0	0	0	0	28.83	26.33	28.83
1729	-1.28	-243.3	2390	2506	3448	3322	438.2	-23.1	97	1734	0.00	2.05	0.00	0.000	516	0.000	0.028	2391	1111	3385	3448	3322	0	0	0	0	0	0	28.83	26.46	28.83
1753	-1.28	-243.3	2391	1111	3447	3322	444.5	-23.2	98	1759	0.00	2.12	0.00	0.000	1030	0.000	0.037	2380	2501	3385	3448	3322	0	0	0	0	0	0	28.83	26.34	28.83
2079	-1.28	-243.3	2380	2501	3448	3322	520.4	-23.0	114	2086	0.12	1.83	0.00	0.000	2308	0.163	0.051	2412	3672	3384	3448	3321	0	0	0	0	0	0	26.32	26.29	28.83
2107	-1.28	-243.3	2411	3672	3447	3322	526.5	-22.5	115	2113	0.00	1.67	0.00	0.000	1030	0.000	0.027	2412	2504	3384	3447	3321	0	0	0	0	0	0	28.83	26.57	28.83
2431	-1.28	-243.3	2411	2504	3448	3318	590.7	-20.4	131	2436	0.00	2.05	0.00	0.000	516	0.000	0.029	2412	1109	3382	3447	3318	0	0	0	0	0	0	28.83	26.46	28.83
2482	-1.28	-243.3	2411	1109	3447	3318	600.9	-20.8	133	2488	0.00	2.12	0.00	0.000	1030	0.000	0.037	2401	2505	3382	3447	3318	0	0	0	0	0	0	28.83	26.35	28.83
2802	-1.28	-243.3	2401	2505	3447	3313	670.4	-20.8	144	2807	0.00	1.83	0.00	0.000	260	0.000	0.054	2392	3674	3379	3447	3312	0	0	0	0	0	0	28.83	26.26	28.83
2851	-1.28	-243.3	2392	3674	3447	3312	677.6	-20.8	145	2857	0.00	1.70	0.00	0.000	1030	0.000	0.027	2392	2490	3379	3447	3312	0	0	0	0	0	0	28.83	26.58	28.83
3171	-1.28	-243.3	2391	2490	3446	3307	743.8	-20.0	156	3172	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2490	3376	3446	3307	0	0	0	0	0	0	28.83	28.83	28.83
3471	-1.28	-243.3	2392	2489	3445	3304	803.0	-19.4	166	3472	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2490	3374	3444	3305	0	0	0	0	0	0	28.83	28.83	28.83
3772	-1.28	-243.3	2392	2490	3443	3301	860.3	-19.7	176	3777	0.00	1.88	0.00	0.000	260	0.000	0.054	2383	3674	3372	3443	3301	0	0	0	0	0	0	28.83	26.25	28.83
3806	-1.28	-243.3	2383	3675	3442	3301	867.1	-19.6	177	3812	0.00	1.70	0.00	0.000	1030	0.000	0.028	2383	2509	3371	3443	3300	0	0	0	0	0	0	28.83	26.55	28.83
4141	-1.28	-243.3	2383	2509	3442	3297	932.0	-19.4	188	4147	0.00	2.08	0.00	0.000	516	0.000	0.029	2383	1106	3369	3441	3297	0	0	0	0	0	0	28.83	26.43	28.83
4164	-1.28	-243.3	2383	1105	3441	3297	932.0	-19.4	188	4171	0.15	2.15	0.00	0.000	3078	0.150	0.040	2413	2505	3369	3441	3297	0	0	0	0	0	0	26.03	26.30	28.83
4239	end dive: TARGET_DEPTH_EXCEEDED
state	4239	begin apogee
4246	-0.20	0.0	2413	1986	3441	3295	950.1	-18.7	191	4632	1.02	0.00	376.48	0.758	10246	0.112	0.000	2754	1985	2377	2531	2223	0	0	0	0	0	0	25.85	28.83	24.15
4634	end apogee: CONTROL_FINISHED_OK
state	4634	begin climb
4636	1.28	243.3	2754	1986	2526	2212	975.5	0.0	203	4914	1.30	2.22	267.52	0.893	10756	0.043	0.033	3252	631	1378	1490	1267	0	0	0	0	0	0	24.99	24.36	23.55
4938	1.28	243.3	3251	631	1473	1250	935.4	21.6	212	4945	0.00	2.22	0.00	0.000	1030	0.000	0.030	3252	2012	1359	1469	1249	0	0	0	0	0	0	28.83	24.74	28.83
5269	1.28	243.3	3251	2012	1458	1239	844.9	27.4	223	5275	0.00	2.20	0.00	0.000	260	0.000	0.046	3252	3405	1348	1458	1239	0	0	0	0	0	0	28.83	25.94	28.83
5325	1.28	243.3	3252	3405	1457	1239	835.3	27.0	224	5331	0.12	2.10	0.00	0.000	5126	0.181	0.028	3232	2009	1348	1457	1239	0	0	0	0	0	0	25.77	26.09	28.83
5640	1.28	243.3	3232	2009	1454	1238	747.4	25.5	235	5646	0.00	2.20	0.00	0.000	260	0.000	0.045	3233	3406	1345	1454	1237	0	0	0	0	0	0	28.83	26.17	28.83
5695	1.28	243.3	3232	3406	1454	1237	737.8	26.1	236	5701	0.00	2.10	0.00	0.000	1030	0.000	0.028	3244	1997	1345	1454	1237	0	0	0	0	0	0	28.83	26.29	28.83
6012	1.28	243.3	3244	1996	1453	1236	650.7	25.5	247	6017	0.00	2.12	0.00	0.000	516	0.000	0.039	3255	609	1344	1452	1236	0	0	0	0	0	0	28.83	26.28	28.83
6057	1.28	243.3	3255	609	1453	1236	640.8	25.9	248	6063	0.00	2.10	0.00	0.000	1030	0.000	0.031	3256	2012	1344	1453	1236	0	0	0	0	0	0	28.83	26.34	28.83
6382	1.28	243.3	3255	2011	1452	1235	550.2	26.8	262	6388	0.00	2.17	0.00	0.000	260	0.000	0.046	3255	3403	1343	1452	1235	0	0	0	0	0	0	28.83	26.29	28.83
6410	1.28	243.3	3255	3403	1452	1235	543.5	26.8	263	6417	0.15	2.08	0.00	0.000	5126	0.171	0.030	3227	2005	1343	1452	1235	0	0	0	0	0	0	26.02	26.41	28.83
6733	1.28	243.3	3227	2005	1450	1234	467.7	22.1	279	6739	0.00	2.15	0.00	0.000	516	0.000	0.040	3238	601	1342	1450	1234	0	0	0	0	0	0	28.83	26.34	28.83
6809	1.28	243.3	3238	601	1451	1233	452.9	21.5	282	6815	0.00	2.10	0.00	0.000	1030	0.000	0.031	3238	1999	1341	1450	1233	0	0	0	0	0	0	28.83	26.39	28.83
7124	1.28	243.3	3238	1999	1450	1233	380.8	22.3	298	7125	0.00	0.00	0.00	0.000	6	0.000	0.000	3238	1999	1341	1450	1233	0	0	0	0	0	0	28.83	28.83	28.83
7425	1.28	243.3	3238	1999	1450	1230	314.9	21.9	313	7431	0.00	2.20	0.00	0.000	260	0.000	0.046	3238	3406	1339	1447	1231	0	0	0	0	0	0	28.83	26.32	28.83
7454	1.28	243.3	3238	3406	1450	1231	308.9	22.6	314	7460	0.00	2.10	0.00	0.000	1030	0.000	0.030	3250	1994	1340	1450	1231	0	0	0	0	0	0	28.83	26.44	28.83
7775	1.28	243.3	3250	1995	1449	1230	234.8	22.6	330	7782	0.00	2.20	0.00	0.000	260	0.000	0.045	3250	3407	1339	1449	1230	0	0	0	0	0	0	28.83	26.31	28.83
7892	1.28	243.3	3249	3407	1449	1231	209.6	23.2	335	7899	0.12	2.10	0.00	0.000	5126	0.174	0.029	3229	1992	1340	1449	1231	0	0	0	0	0	0	26.09	26.46	28.83
8209	1.28	243.3	3229	1992	1449	1230	140.1	20.9	351	8215	0.00	2.12	0.00	0.000	516	0.000	0.039	3240	606	1339	1449	1230	0	0	0	0	0	0	28.83	26.34	28.83
8276	1.28	243.3	3240	606	1448	1230	125.4	21.2	354	8282	0.00	2.08	0.00	0.000	1030	0.000	0.030	3240	2006	1339	1449	1230	0	0	0	0	0	0	28.83	26.43	28.83
8604	1.28	243.3	3240	2006	1449	1231	68.9	11.3	370	8610	0.00	2.15	0.00	0.000	516	0.000	0.039	3251	603	1339	1448	1230	0	0	0	0	0	0	28.83	26.34	28.83
8842	1.28	243.3	3251	603	1449	1229	42.4	9.1	385	8849	0.00	2.08	0.00	0.000	1030	0.000	0.029	3251	2008	1339	1449	1229	0	0	0	0	0	0	28.83	26.44	28.83
9161	1.28	243.3	3251	2007	1448	1229	12.4	9.0	428	9170	0.00	2.15	0.00	0.000	516	0.000	0.039	3263	600	1339	1449	1229	0	0	0	0	0	0	28.83	26.34	28.83
9266	end climb: SURFACE_DEPTH_REACHED
state	9266	begin surface coast
9289	end surface coast: CONTROL_FINISHED_OK
state	9289	begin surface