Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 323 * 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 323 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 49 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 44 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 1.2 INT_PRESSURE_YINT 1.4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0.029999999 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 -20925.16 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 2810 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 -20925.16

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 0.029999999 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 1.2 T_TURN 225

C_PITCH 2810 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 49 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 44 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 323 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 090413,192405,2323.378,12135.960,35,1.0,41,-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 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090413,193026,2323.602,12136.062,14,1.0,14,-3.1 MHEAD_RNG_PITCHd_Wd 220.2,3587,-11.1,-8.333,-15.84,4108

SPEED_LIMITS 0.144,0.302 D_GRID 1287

Post-dive calculations and measurements:

FINISH 1.2,1.022461 _10V_AH 10.1,30.772

SM_CCo 9433,37.75,0.060,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.04,8.40,3.00,37.75,0.031,0.034,0.060,127,2495,748,-8.26,-1.10,400.08,0,0,0,0,0,0,26.03,25.89,25.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2314.48,12140.91,090413,161638 MEM 323256

TT8_MAMPS 0.047187,0.047187 DATA_FILE_SIZE 16805,432

HUMID 48.34 CAP_FILE_SIZE 257003,0

INTERNAL_PRESSURE 9.58391 CFSIZE 260034560,222105600

TCM_TEMP 22.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0

XPDR_PINGS 0 CURRENT 0.179, 22.1,1

SC_FREEKB 3917376 GPS 090413,221031,2323.312,12135.208,42,1.1,43,-3.1

_24V_AH 23.5,48.455

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 220 107.05 nil 0 0 0.00

Roll_motor 82 65 125.42 nil 0 0 0.00

VBD_pump_during_apogee 941 912 20198.40 nil 0 0 0.00

VBD_pump_during_surface 37 59 52.93 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 9407 3 881.16

Iridium_during_xfer 213 125 629.39 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 4.38

TT8 1895 35 687.84

LPSleep 5155 2 114.04

TT8_Active 899 35 326.40

TT8_Sampling 1547 58 913.01

TT8_CF8 372 65 247.83

TT8_Kalman 0 0 0.00

Analog_circuits 1966 15 297.98

GPS_charging 0 0 0.00

Compass 1264 5 76.52

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -1.24 -226.8 126 2504 844 651 0.0 0.0 0 82 0.00 0.00 -60.28 0.000 16386 0.000 0.000 126 2505 2499 2563 2435 0 0 0 0 0 0 28.83 28.83 28.83

85 -1.30 -243.3 126 2505 2564 2436 4.2 -7.9 8 118 8.95 1.83 -14.02 0.000 18692 0.220 0.065 2378 3658 3376 3436 3317 0 0 0 0 0 0 25.52 26.01 26.53

307 -1.30 -243.3 2377 3661 3442 3318 83.5 -30.5 25 313 0.00 1.70 0.00 0.000 1030 0.000 0.025 2378 2486 3380 3442 3318 0 0 0 0 0 0 28.83 26.32 28.83

504 -1.30 -243.3 2377 2485 3446 3322 139.4 -28.2 35 509 0.00 1.85 0.00 0.000 260 0.000 0.051 2370 3658 3384 3446 3322 0 0 0 0 0 0 28.83 26.15 28.83

571 -1.30 -243.3 2370 3658 3446 3324 161.8 -31.5 38 577 0.00 1.70 0.00 0.000 1030 0.000 0.025 2370 2510 3385 3447 3324 0 0 0 0 0 0 28.83 26.42 28.83

777 -1.30 -243.3 2370 2511 3449 3326 223.7 -28.6 48 783 0.00 2.08 0.00 0.000 516 0.000 0.026 2370 1102 3387 3449 3326 0 0 0 0 0 0 28.83 26.38 28.83

832 -1.30 -243.3 2370 1102 3449 3327 236.1 -28.2 50 840 0.12 2.15 0.00 0.000 3078 0.168 0.039 2390 2507 3387 3449 3326 0 0 0 0 0 0 26.00 26.26 28.83

1030 -1.30 -243.3 2390 2507 3449 3326 290.3 -25.9 60 1036 0.00 1.83 0.00 0.000 260 0.000 0.054 2382 3674 3387 3449 3326 0 0 0 0 0 0 28.83 26.22 28.83

1106 -1.30 -243.3 2382 3674 3449 3326 308.5 -26.0 63 1112 0.00 1.62 0.00 0.000 1030 0.000 0.025 2382 2533 3387 3449 3326 0 0 0 0 0 0 28.83 26.51 28.83

1421 -1.30 -243.3 2382 2533 3450 3326 389.9 -24.4 79 1427 0.00 2.08 0.00 0.000 516 0.000 0.027 2383 1111 3387 3449 3326 0 0 0 0 0 0 28.83 26.44 28.83

1440 -1.30 -243.3 2382 1111 3448 3326 389.9 -24.4 79 1448 0.00 2.17 0.00 0.000 1030 0.000 0.038 2372 2538 3388 3449 3327 0 0 0 0 0 0 28.83 26.31 28.83

1746 -1.30 -243.3 2372 2538 3449 3326 469.2 -24.1 95 1752 0.00 1.77 0.00 0.000 260 0.000 0.054 2363 3673 3387 3449 3326 0 0 0 0 0 0 28.83 26.26 28.83

1824 -1.30 -243.3 2363 3672 3448 3326 485.5 -23.8 98 1830 0.12 1.62 0.00 0.000 3078 0.155 0.026 2396 2538 3387 3449 3326 0 0 0 0 0 0 26.19 26.56 28.83

2141 -1.30 -243.3 2395 2539 3449 3324 552.3 -19.5 114 2142 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2538 3386 3448 3324 0 0 0 0 0 0 28.83 28.83 28.83

2459 -1.30 -243.3 2395 2538 3448 3320 616.3 -20.8 129 2465 0.00 1.80 0.00 0.000 260 0.000 0.055 2388 3675 3384 3448 3320 0 0 0 0 0 0 28.83 26.26 28.83

2505 -1.30 -243.3 2386 3676 3448 3319 623.7 -21.1 130 2511 0.00 1.62 0.00 0.000 1030 0.000 0.027 2388 2549 3383 3448 3319 0 0 0 0 0 0 28.83 26.56 28.83

2830 -1.30 -243.3 2388 2549 3448 3314 698.5 -22.3 141 2831 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2546 3381 3448 3314 0 0 0 0 0 0 28.83 28.83 28.83

3130 -1.30 -243.3 2388 2549 3448 3311 768.1 -22.9 151 3136 0.00 2.15 0.00 0.000 516 0.000 0.030 2388 1101 3379 3448 3310 0 0 0 0 0 0 28.83 26.44 28.83

3165 -1.30 -243.3 2388 1101 3448 3310 775.7 -22.7 152 3171 0.00 2.25 0.00 0.000 1030 0.000 0.041 2377 2547 3378 3447 3309 0 0 0 0 0 0 28.83 26.30 28.83

3500 -1.30 -243.3 2376 2548 3445 3307 851.3 -23.4 163 3501 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2548 3375 3445 3306 0 0 0 0 0 0 28.83 28.83 28.83

3800 -1.30 -243.3 2377 2548 3444 3303 920.0 -22.2 173 3806 0.00 1.77 0.00 0.000 260 0.000 0.056 2369 3674 3372 3443 3302 0 0 0 0 0 0 28.83 26.22 28.83

3885 -1.30 -243.3 2368 3674 3443 3302 934.8 -22.4 175 3890 0.00 1.65 0.00 0.000 1030 0.000 0.028 2369 2534 3372 3442 3302 0 0 0 0 0 0 28.83 26.56 28.83

3957 end dive: TARGET_DEPTH_EXCEEDED

state 3957 begin apogee

3963 -0.20 0.0 2369 1989 3442 3301 954.8 -21.5 178 4547 1.15 0.00 570.50 0.643 10244 0.122 0.000 2741 1985 2375 2530 2221 0 0 0 0 0 0 25.79 28.83 24.09

4550 end apogee: CONTROL_FINISHED_OK

state 4550 begin climb

4552 1.30 243.3 2740 1987 2527 2212 991.4 0.0 196 4831 1.38 2.20 264.35 0.913 10756 0.050 0.036 3238 629 1377 1488 1267 0 0 0 0 0 0 24.99 24.97 23.49

5035 1.30 243.3 3238 629 1460 1240 894.7 26.3 211 5041 0.00 2.12 0.00 0.000 1030 0.000 0.030 3239 2013 1350 1460 1240 0 0 0 0 0 0 28.83 25.70 28.83

5365 1.30 243.3 3238 2013 1458 1237 806.4 26.8 222 5371 0.00 2.17 0.00 0.000 516 0.000 0.038 3249 620 1348 1459 1238 0 0 0 0 0 0 28.83 26.10 28.83

5502 1.30 243.3 3249 621 1458 1237 774.3 25.1 226 5508 0.00 2.10 0.00 0.000 1030 0.000 0.031 3250 2010 1347 1457 1237 0 0 0 0 0 0 28.83 26.22 28.83

5828 1.30 243.3 3249 2009 1456 1235 694.0 23.3 237 5829 0.00 0.00 0.00 0.000 6 0.000 0.000 3249 2010 1345 1456 1235 0 0 0 0 0 0 28.83 28.83 28.83

6127 1.30 243.3 3249 2010 1455 1234 617.2 26.2 247 6133 0.00 2.17 0.00 0.000 260 0.000 0.046 3250 3402 1344 1454 1234 0 0 0 0 0 0 28.83 26.28 28.83

6176 1.30 243.3 3249 3402 1454 1234 607.2 26.9 248 6183 0.12 2.05 0.00 0.000 5126 0.177 0.028 3229 2018 1344 1454 1234 0 0 0 0 0 0 26.06 26.41 28.83

6499 1.30 243.3 3229 2018 1453 1232 528.8 22.1 264 6500 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 2018 1342 1453 1232 0 0 0 0 0 0 28.83 28.83 28.83

6797 1.30 243.3 3229 2018 1453 1231 463.3 22.3 279 6803 0.00 2.17 0.00 0.000 260 0.000 0.047 3228 3402 1341 1452 1231 0 0 0 0 0 0 28.83 26.31 28.83

6867 1.30 243.3 3229 3402 1453 1231 448.1 22.3 282 6874 0.00 2.05 0.00 0.000 1030 0.000 0.029 3240 2015 1341 1452 1231 0 0 0 0 0 0 28.83 26.45 28.83

7189 1.30 243.3 3240 2015 1451 1230 378.2 22.0 298 7195 0.00 2.15 0.00 0.000 516 0.000 0.040 3251 610 1340 1451 1229 0 0 0 0 0 0 28.83 26.34 28.83

7222 1.30 243.3 3251 610 1451 1230 372.5 22.3 299 7229 0.00 2.10 0.00 0.000 1030 0.000 0.030 3251 2016 1340 1451 1229 0 0 0 0 0 0 28.83 26.42 28.83

7539 1.30 243.3 3248 2015 1451 1229 304.5 20.5 315 7545 0.00 2.17 0.00 0.000 516 0.000 0.040 3263 605 1339 1451 1228 0 0 0 0 0 0 28.83 26.33 28.83

7580 1.30 243.3 3263 605 1450 1228 299.1 20.7 316 7589 0.12 2.10 0.00 0.000 5126 0.167 0.030 3231 2010 1340 1451 1229 0 0 0 0 0 0 26.10 26.42 28.83

7884 1.30 243.3 3231 2010 1450 1228 238.0 19.0 332 7891 0.00 2.17 0.00 0.000 260 0.000 0.047 3231 3406 1339 1451 1228 0 0 0 0 0 0 28.83 26.30 28.83

7972 1.30 243.3 3231 3406 1450 1226 220.3 20.2 336 7979 0.00 2.10 0.00 0.000 1030 0.000 0.030 3242 1999 1339 1451 1228 0 0 0 0 0 0 28.83 26.45 28.83

8181 1.30 243.3 3241 1999 1450 1228 181.9 19.0 346 8186 0.00 2.12 0.00 0.000 516 0.000 0.041 3253 610 1339 1451 1228 0 0 0 0 0 0 28.83 26.33 28.83

8228 1.30 243.3 3252 610 1451 1228 172.9 19.1 348 8234 0.00 2.10 0.00 0.000 1030 0.000 0.031 3253 2012 1339 1451 1227 0 0 0 0 0 0 28.83 26.42 28.83

8434 1.30 243.3 3252 2012 1450 1228 134.0 17.6 358 8440 0.00 2.15 0.00 0.000 260 0.000 0.046 3253 3400 1339 1451 1228 0 0 0 0 0 0 28.83 26.29 28.83

8566 1.30 243.3 3253 3400 1450 1228 108.9 19.6 364 8573 0.12 2.03 0.00 0.000 5126 0.170 0.028 3231 2021 1339 1451 1228 0 0 0 0 0 0 26.10 26.47 28.83

8769 1.30 243.3 3231 2020 1451 1227 75.1 14.4 374 8775 0.00 2.12 0.00 0.000 516 0.000 0.039 3242 610 1338 1450 1227 0 0 0 0 0 0 28.83 26.34 28.83

9010 1.30 243.3 3241 611 1451 1227 47.5 10.5 386 9016 0.00 2.08 0.00 0.000 1030 0.000 0.030 3242 2004 1339 1451 1227 0 0 0 0 0 0 28.83 26.44 28.83

9205 1.58 325.9 3241 2004 1448 1226 31.5 6.3 405 9321 0.17 2.22 106.93 0.389 10756 0.065 0.038 3360 613 1039 1156 923 0 0 1 0 0 0 26.61 25.77 25.25

9405 end climb: SURFACE_DEPTH_REACHED

state 9405 begin surface coast

9412 end surface coast: CONTROL_FINISHED_OK

state 9412 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	323	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	49	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	44	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	1.2	INT_PRESSURE_YINT	1.4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0.029999999	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	-20925.16	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	2810	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	090413,192405,2323.378,12135.960,35,1.0,41,-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	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090413,193026,2323.602,12136.062,14,1.0,14,-3.1	MHEAD_RNG_PITCHd_Wd	220.2,3587,-11.1,-8.333,-15.84,4108
SPEED_LIMITS	0.144,0.302	D_GRID	1287

FINISH	1.2,1.022461	_10V_AH	10.1,30.772
SM_CCo	9433,37.75,0.060,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.04,8.40,3.00,37.75,0.031,0.034,0.060,127,2495,748,-8.26,-1.10,400.08,0,0,0,0,0,0,26.03,25.89,25.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2314.48,12140.91,090413,161638	MEM	323256
TT8_MAMPS	0.047187,0.047187	DATA_FILE_SIZE	16805,432
HUMID	48.34	CAP_FILE_SIZE	257003,0
INTERNAL_PRESSURE	9.58391	CFSIZE	260034560,222105600
TCM_TEMP	22.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
XPDR_PINGS	0	CURRENT	0.179, 22.1,1
SC_FREEKB	3917376	GPS	090413,221031,2323.312,12135.208,42,1.1,43,-3.1
_24V_AH	23.5,48.455

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	220	107.05	nil	0	0	0.00
Roll_motor	82	65	125.42	nil	0	0	0.00
VBD_pump_during_apogee	941	912	20198.40	nil	0	0	0.00
VBD_pump_during_surface	37	59	52.93	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	9407	3	881.16
Iridium_during_xfer	213	125	629.39	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	4.38
TT8	1895	35	687.84
LPSleep	5155	2	114.04
TT8_Active	899	35	326.40
TT8_Sampling	1547	58	913.01
TT8_CF8	372	65	247.83
TT8_Kalman	0	0	0.00
Analog_circuits	1966	15	297.98
GPS_charging	0	0	0.00
Compass	1264	5	76.52
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-1.24	-226.8	126	2504	844	651	0.0	0.0	0	82	0.00	0.00	-60.28	0.000	16386	0.000	0.000	126	2505	2499	2563	2435	0	0	0	0	0	0	28.83	28.83	28.83
85	-1.30	-243.3	126	2505	2564	2436	4.2	-7.9	8	118	8.95	1.83	-14.02	0.000	18692	0.220	0.065	2378	3658	3376	3436	3317	0	0	0	0	0	0	25.52	26.01	26.53
307	-1.30	-243.3	2377	3661	3442	3318	83.5	-30.5	25	313	0.00	1.70	0.00	0.000	1030	0.000	0.025	2378	2486	3380	3442	3318	0	0	0	0	0	0	28.83	26.32	28.83
504	-1.30	-243.3	2377	2485	3446	3322	139.4	-28.2	35	509	0.00	1.85	0.00	0.000	260	0.000	0.051	2370	3658	3384	3446	3322	0	0	0	0	0	0	28.83	26.15	28.83
571	-1.30	-243.3	2370	3658	3446	3324	161.8	-31.5	38	577	0.00	1.70	0.00	0.000	1030	0.000	0.025	2370	2510	3385	3447	3324	0	0	0	0	0	0	28.83	26.42	28.83
777	-1.30	-243.3	2370	2511	3449	3326	223.7	-28.6	48	783	0.00	2.08	0.00	0.000	516	0.000	0.026	2370	1102	3387	3449	3326	0	0	0	0	0	0	28.83	26.38	28.83
832	-1.30	-243.3	2370	1102	3449	3327	236.1	-28.2	50	840	0.12	2.15	0.00	0.000	3078	0.168	0.039	2390	2507	3387	3449	3326	0	0	0	0	0	0	26.00	26.26	28.83
1030	-1.30	-243.3	2390	2507	3449	3326	290.3	-25.9	60	1036	0.00	1.83	0.00	0.000	260	0.000	0.054	2382	3674	3387	3449	3326	0	0	0	0	0	0	28.83	26.22	28.83
1106	-1.30	-243.3	2382	3674	3449	3326	308.5	-26.0	63	1112	0.00	1.62	0.00	0.000	1030	0.000	0.025	2382	2533	3387	3449	3326	0	0	0	0	0	0	28.83	26.51	28.83
1421	-1.30	-243.3	2382	2533	3450	3326	389.9	-24.4	79	1427	0.00	2.08	0.00	0.000	516	0.000	0.027	2383	1111	3387	3449	3326	0	0	0	0	0	0	28.83	26.44	28.83
1440	-1.30	-243.3	2382	1111	3448	3326	389.9	-24.4	79	1448	0.00	2.17	0.00	0.000	1030	0.000	0.038	2372	2538	3388	3449	3327	0	0	0	0	0	0	28.83	26.31	28.83
1746	-1.30	-243.3	2372	2538	3449	3326	469.2	-24.1	95	1752	0.00	1.77	0.00	0.000	260	0.000	0.054	2363	3673	3387	3449	3326	0	0	0	0	0	0	28.83	26.26	28.83
1824	-1.30	-243.3	2363	3672	3448	3326	485.5	-23.8	98	1830	0.12	1.62	0.00	0.000	3078	0.155	0.026	2396	2538	3387	3449	3326	0	0	0	0	0	0	26.19	26.56	28.83
2141	-1.30	-243.3	2395	2539	3449	3324	552.3	-19.5	114	2142	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2538	3386	3448	3324	0	0	0	0	0	0	28.83	28.83	28.83
2459	-1.30	-243.3	2395	2538	3448	3320	616.3	-20.8	129	2465	0.00	1.80	0.00	0.000	260	0.000	0.055	2388	3675	3384	3448	3320	0	0	0	0	0	0	28.83	26.26	28.83
2505	-1.30	-243.3	2386	3676	3448	3319	623.7	-21.1	130	2511	0.00	1.62	0.00	0.000	1030	0.000	0.027	2388	2549	3383	3448	3319	0	0	0	0	0	0	28.83	26.56	28.83
2830	-1.30	-243.3	2388	2549	3448	3314	698.5	-22.3	141	2831	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2546	3381	3448	3314	0	0	0	0	0	0	28.83	28.83	28.83
3130	-1.30	-243.3	2388	2549	3448	3311	768.1	-22.9	151	3136	0.00	2.15	0.00	0.000	516	0.000	0.030	2388	1101	3379	3448	3310	0	0	0	0	0	0	28.83	26.44	28.83
3165	-1.30	-243.3	2388	1101	3448	3310	775.7	-22.7	152	3171	0.00	2.25	0.00	0.000	1030	0.000	0.041	2377	2547	3378	3447	3309	0	0	0	0	0	0	28.83	26.30	28.83
3500	-1.30	-243.3	2376	2548	3445	3307	851.3	-23.4	163	3501	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2548	3375	3445	3306	0	0	0	0	0	0	28.83	28.83	28.83
3800	-1.30	-243.3	2377	2548	3444	3303	920.0	-22.2	173	3806	0.00	1.77	0.00	0.000	260	0.000	0.056	2369	3674	3372	3443	3302	0	0	0	0	0	0	28.83	26.22	28.83
3885	-1.30	-243.3	2368	3674	3443	3302	934.8	-22.4	175	3890	0.00	1.65	0.00	0.000	1030	0.000	0.028	2369	2534	3372	3442	3302	0	0	0	0	0	0	28.83	26.56	28.83
3957	end dive: TARGET_DEPTH_EXCEEDED
state	3957	begin apogee
3963	-0.20	0.0	2369	1989	3442	3301	954.8	-21.5	178	4547	1.15	0.00	570.50	0.643	10244	0.122	0.000	2741	1985	2375	2530	2221	0	0	0	0	0	0	25.79	28.83	24.09
4550	end apogee: CONTROL_FINISHED_OK
state	4550	begin climb
4552	1.30	243.3	2740	1987	2527	2212	991.4	0.0	196	4831	1.38	2.20	264.35	0.913	10756	0.050	0.036	3238	629	1377	1488	1267	0	0	0	0	0	0	24.99	24.97	23.49
5035	1.30	243.3	3238	629	1460	1240	894.7	26.3	211	5041	0.00	2.12	0.00	0.000	1030	0.000	0.030	3239	2013	1350	1460	1240	0	0	0	0	0	0	28.83	25.70	28.83
5365	1.30	243.3	3238	2013	1458	1237	806.4	26.8	222	5371	0.00	2.17	0.00	0.000	516	0.000	0.038	3249	620	1348	1459	1238	0	0	0	0	0	0	28.83	26.10	28.83
5502	1.30	243.3	3249	621	1458	1237	774.3	25.1	226	5508	0.00	2.10	0.00	0.000	1030	0.000	0.031	3250	2010	1347	1457	1237	0	0	0	0	0	0	28.83	26.22	28.83
5828	1.30	243.3	3249	2009	1456	1235	694.0	23.3	237	5829	0.00	0.00	0.00	0.000	6	0.000	0.000	3249	2010	1345	1456	1235	0	0	0	0	0	0	28.83	28.83	28.83
6127	1.30	243.3	3249	2010	1455	1234	617.2	26.2	247	6133	0.00	2.17	0.00	0.000	260	0.000	0.046	3250	3402	1344	1454	1234	0	0	0	0	0	0	28.83	26.28	28.83
6176	1.30	243.3	3249	3402	1454	1234	607.2	26.9	248	6183	0.12	2.05	0.00	0.000	5126	0.177	0.028	3229	2018	1344	1454	1234	0	0	0	0	0	0	26.06	26.41	28.83
6499	1.30	243.3	3229	2018	1453	1232	528.8	22.1	264	6500	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	2018	1342	1453	1232	0	0	0	0	0	0	28.83	28.83	28.83
6797	1.30	243.3	3229	2018	1453	1231	463.3	22.3	279	6803	0.00	2.17	0.00	0.000	260	0.000	0.047	3228	3402	1341	1452	1231	0	0	0	0	0	0	28.83	26.31	28.83
6867	1.30	243.3	3229	3402	1453	1231	448.1	22.3	282	6874	0.00	2.05	0.00	0.000	1030	0.000	0.029	3240	2015	1341	1452	1231	0	0	0	0	0	0	28.83	26.45	28.83
7189	1.30	243.3	3240	2015	1451	1230	378.2	22.0	298	7195	0.00	2.15	0.00	0.000	516	0.000	0.040	3251	610	1340	1451	1229	0	0	0	0	0	0	28.83	26.34	28.83
7222	1.30	243.3	3251	610	1451	1230	372.5	22.3	299	7229	0.00	2.10	0.00	0.000	1030	0.000	0.030	3251	2016	1340	1451	1229	0	0	0	0	0	0	28.83	26.42	28.83
7539	1.30	243.3	3248	2015	1451	1229	304.5	20.5	315	7545	0.00	2.17	0.00	0.000	516	0.000	0.040	3263	605	1339	1451	1228	0	0	0	0	0	0	28.83	26.33	28.83
7580	1.30	243.3	3263	605	1450	1228	299.1	20.7	316	7589	0.12	2.10	0.00	0.000	5126	0.167	0.030	3231	2010	1340	1451	1229	0	0	0	0	0	0	26.10	26.42	28.83
7884	1.30	243.3	3231	2010	1450	1228	238.0	19.0	332	7891	0.00	2.17	0.00	0.000	260	0.000	0.047	3231	3406	1339	1451	1228	0	0	0	0	0	0	28.83	26.30	28.83
7972	1.30	243.3	3231	3406	1450	1226	220.3	20.2	336	7979	0.00	2.10	0.00	0.000	1030	0.000	0.030	3242	1999	1339	1451	1228	0	0	0	0	0	0	28.83	26.45	28.83
8181	1.30	243.3	3241	1999	1450	1228	181.9	19.0	346	8186	0.00	2.12	0.00	0.000	516	0.000	0.041	3253	610	1339	1451	1228	0	0	0	0	0	0	28.83	26.33	28.83
8228	1.30	243.3	3252	610	1451	1228	172.9	19.1	348	8234	0.00	2.10	0.00	0.000	1030	0.000	0.031	3253	2012	1339	1451	1227	0	0	0	0	0	0	28.83	26.42	28.83
8434	1.30	243.3	3252	2012	1450	1228	134.0	17.6	358	8440	0.00	2.15	0.00	0.000	260	0.000	0.046	3253	3400	1339	1451	1228	0	0	0	0	0	0	28.83	26.29	28.83
8566	1.30	243.3	3253	3400	1450	1228	108.9	19.6	364	8573	0.12	2.03	0.00	0.000	5126	0.170	0.028	3231	2021	1339	1451	1228	0	0	0	0	0	0	26.10	26.47	28.83
8769	1.30	243.3	3231	2020	1451	1227	75.1	14.4	374	8775	0.00	2.12	0.00	0.000	516	0.000	0.039	3242	610	1338	1450	1227	0	0	0	0	0	0	28.83	26.34	28.83
9010	1.30	243.3	3241	611	1451	1227	47.5	10.5	386	9016	0.00	2.08	0.00	0.000	1030	0.000	0.030	3242	2004	1339	1451	1227	0	0	0	0	0	0	28.83	26.44	28.83
9205	1.58	325.9	3241	2004	1448	1226	31.5	6.3	405	9321	0.17	2.22	106.93	0.389	10756	0.065	0.038	3360	613	1039	1156	923	0	0	1	0	0	0	26.61	25.77	25.25
9405	end climb: SURFACE_DEPTH_REACHED
state	9405	begin surface coast
9412	end surface coast: CONTROL_FINISHED_OK
state	9412	begin surface