Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 324 * 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 324 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 60 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 30 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 -20926.416 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 -20926.416

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 60 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 30 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 324 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 090413,221031,2323.312,12135.208,42,1.1,43,-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 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090413,221701,2323.575,12135.260,10,1.4,10,-3.1 MHEAD_RNG_PITCHd_Wd 207.8,2692,-10.9,-8.333,-15.68,4211

SPEED_LIMITS 0.144,0.302 D_GRID 1287

Post-dive calculations and measurements:

FINISH 0.5,1.022431 _10V_AH 10.1,30.856

SM_CCo 9616,63.33,0.061,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 0.99,8.05,2.95,63.33,0.035,0.037,0.061,110,2496,748,-8.27,-1.13,400.08,0,0,0,0,0,0,26.34,26.16,26.03 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2312.13,12134.45,090413,191947 MEM 323280

TT8_MAMPS 0.047187,0.047187 DATA_FILE_SIZE 16787,456

HUMID 47.91 CAP_FILE_SIZE 256658,0

INTERNAL_PRESSURE 9.60344 CFSIZE 260034560,222015488

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 0.275, 13.4,1

SC_FREEKB 3917056 GPS 100413,010007,2323.646,12134.896,12,1.7,13,-3.1

_24V_AH 23.5,48.613

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 219 103.58 nil 0 0 0.00

Roll_motor 79 55 102.61 nil 0 0 0.00

VBD_pump_during_apogee 676 891 14173.82 nil 0 0 0.00

VBD_pump_during_surface 63 61 91.07 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 9602 4 932.15

Iridium_during_xfer 225 124 660.42 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 27 3.17

TT8 1984 35 720.02

LPSleep 5476 2 121.14

TT8_Active 741 35 269.09

TT8_Sampling 1511 58 891.77

TT8_CF8 374 65 249.10

TT8_Kalman 0 0 0.00

Analog_circuits 1746 15 264.66

GPS_charging 0 0 0.00

Compass 1220 5 73.83

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 -1.25 -232.6 126 2497 834 661 0.0 0.0 0 83 0.00 0.00 -61.22 0.000 16386 0.000 0.000 125 2497 2578 2640 2516 0 0 0 0 0 0 28.83 28.83 28.83

86 -1.25 -232.6 126 2497 2645 2516 4.6 -9.5 8 118 9.00 2.15 -11.80 0.000 18948 0.220 0.044 2399 1106 3335 3401 3270 0 0 0 0 0 0 25.48 26.09 26.45

220 -1.25 -232.6 2399 1107 3404 3270 54.2 -27.2 22 226 0.00 2.15 0.00 0.000 1030 0.000 0.036 2389 2507 3337 3404 3270 0 0 0 0 0 0 28.83 26.09 28.83

426 -1.25 -232.6 2389 2508 3407 3270 110.8 -25.2 32 428 0.00 0.00 0.00 0.000 6 0.000 0.000 2389 2507 3338 3407 3270 0 0 0 0 0 0 28.83 28.83 28.83

605 -1.25 -232.6 2389 2507 3412 3271 162.2 -29.6 41 606 0.00 0.00 0.00 0.000 6 0.000 0.000 2389 2507 3342 3414 3271 0 0 0 0 0 0 28.83 28.83 28.83

786 -1.25 -232.6 2389 2507 3413 3273 214.1 -28.4 50 791 0.00 1.83 0.00 0.000 260 0.000 0.052 2380 3675 3343 3413 3273 0 0 0 0 0 0 28.83 26.22 28.83

867 -1.25 -232.6 2379 3676 3412 3274 233.8 -28.5 53 876 0.00 1.73 0.00 0.000 1030 0.000 0.024 2380 2469 3343 3413 3273 0 0 0 0 0 0 28.83 26.46 28.83

1055 -1.25 -232.6 2380 2468 3413 3274 288.7 -27.5 63 1060 0.00 1.90 0.00 0.000 260 0.000 0.054 2371 3676 3342 3412 3273 0 0 0 0 0 0 28.83 26.25 28.83

1104 -1.25 -232.6 1424 3674 3398 3269 300.5 -27.0 65 1111 0.12 1.70 0.00 0.000 3078 0.153 0.024 2404 2483 3343 3413 3274 0 0 0 0 0 0 26.16 26.51 28.83

1427 -1.25 -232.6 2403 2483 3413 3274 377.7 -23.0 81 1428 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2483 3343 3413 3274 0 0 0 0 0 0 28.83 28.83 28.83

1724 -1.25 -232.6 2403 2484 3413 3273 445.4 -21.5 96 1731 0.00 2.03 0.00 0.000 516 0.000 0.028 2404 1108 3343 3413 3273 0 0 0 0 0 0 28.83 26.45 28.83

1781 -1.25 -232.6 2404 1108 3413 3273 455.2 -21.3 98 1787 0.00 2.12 0.00 0.000 1030 0.000 0.037 2394 2502 3343 3413 3273 0 0 0 0 0 0 28.83 26.35 28.83

2095 -1.25 -232.6 2391 2502 3413 3273 526.9 -22.3 114 2101 0.00 1.85 0.00 0.000 260 0.000 0.053 2385 3684 3343 3413 3273 0 0 0 0 0 0 28.83 26.29 28.83

2227 -1.25 -232.6 2385 3684 3413 3272 555.5 -22.8 120 2233 0.00 1.70 0.00 0.000 1030 0.000 0.027 2385 2509 3342 3413 3272 0 0 0 0 0 0 28.83 26.57 28.83

2547 -1.25 -232.6 2385 2509 3413 3267 628.1 -21.6 134 2553 0.00 1.83 0.00 0.000 260 0.000 0.054 2376 3669 3338 3410 3267 0 0 0 0 0 0 28.83 26.29 28.83

2613 -1.25 -232.6 2376 3669 3413 3266 642.0 -21.1 136 2620 0.12 1.70 0.00 0.000 3078 0.147 0.027 2410 2497 3338 3413 3264 0 0 0 0 0 0 26.24 26.58 28.83

2949 -1.25 -232.6 2410 2496 3413 3262 702.7 -17.5 147 2950 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2497 3337 3413 3261 0 0 0 0 0 0 28.83 28.83 28.83

3249 -1.25 -232.6 2410 2497 3412 3256 757.0 -18.2 157 3250 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2497 3334 3413 3256 0 0 0 0 0 0 28.83 28.83 28.83

3549 -1.25 -232.6 2410 2496 3410 3253 812.8 -18.9 167 3555 0.00 2.05 0.00 0.000 516 0.000 0.031 2410 1111 3331 3410 3253 0 0 0 0 0 0 28.83 26.44 28.83

3595 -1.25 -232.6 2410 1111 3413 3252 819.4 -18.8 168 3602 0.00 2.15 0.00 0.000 1030 0.000 0.041 2401 2505 3330 3410 3251 0 0 0 0 0 0 28.83 26.31 28.83

3920 -1.25 -232.6 2400 2505 3407 3250 884.0 -19.8 179 3926 0.00 1.85 0.00 0.000 260 0.000 0.055 2392 3670 3326 3404 3249 0 0 0 0 0 0 28.83 26.24 28.83

4031 -1.25 -232.6 2391 3669 3407 3249 903.4 -20.2 182 4036 0.00 1.67 0.00 0.000 1030 0.000 0.028 2392 2512 3328 3406 3251 0 0 0 0 0 0 28.83 26.55 28.83

4258 end dive: TARGET_DEPTH_EXCEEDED

state 4259 begin apogee

4265 -0.20 0.0 2392 1987 3405 3246 950.6 -19.1 190 4641 1.08 0.00 364.35 0.766 10244 0.118 0.000 2743 1987 2373 2530 2216 0 0 0 0 0 0 25.83 28.83 24.12

4643 end apogee: CONTROL_FINISHED_OK

state 4643 begin climb

4646 1.25 232.6 2743 1987 2527 2212 970.7 0.0 201 4916 1.33 2.20 258.88 0.892 10756 0.051 0.036 3221 631 1427 1536 1318 0 0 0 0 0 0 25.01 24.99 23.55

5076 1.25 232.6 3220 631 1502 1287 905.5 23.9 214 5085 0.00 2.17 0.00 0.000 1030 0.000 0.031 3221 2023 1394 1502 1287 0 0 0 0 0 0 28.83 25.58 28.83

5386 1.25 232.6 3220 2023 1499 1285 825.8 23.1 225 5392 0.00 2.17 0.00 0.000 260 0.000 0.047 3221 3402 1391 1497 1285 0 0 0 0 0 0 28.83 26.04 28.83

5626 1.25 232.6 3220 3402 1496 1285 770.5 25.6 232 5632 0.00 2.08 0.00 0.000 1030 0.000 0.028 3232 2010 1390 1496 1284 0 0 0 0 0 0 28.83 26.28 28.83

5944 1.25 232.6 3232 2010 1496 1283 688.8 24.1 243 5945 0.00 0.00 0.00 0.000 6 0.000 0.000 3232 2010 1389 1496 1283 0 0 0 0 0 0 28.83 28.83 28.83

6242 1.25 232.6 3232 2010 1495 1282 618.4 23.2 253 6248 0.00 2.20 0.00 0.000 260 0.000 0.046 3232 3410 1388 1495 1282 0 0 0 0 0 0 28.83 26.28 28.83

6288 1.25 232.6 3234 3410 1495 1282 610.0 23.4 254 6295 0.12 2.12 0.00 0.000 5126 0.174 0.028 3212 1987 1388 1495 1282 0 0 0 0 0 0 26.06 26.41 28.83

6606 1.25 232.6 3212 1987 1494 1280 537.8 21.8 269 6608 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1987 1386 1494 1279 0 0 0 0 0 0 28.83 28.83 28.83

6904 1.25 232.6 3212 1987 1494 1278 470.7 22.1 284 6910 0.00 2.22 0.00 0.000 260 0.000 0.047 3212 3402 1386 1494 1278 0 0 0 0 0 0 28.83 26.29 28.83

7011 1.25 232.6 3212 3402 1494 1278 446.7 22.0 289 7018 0.00 2.12 0.00 0.000 1030 0.000 0.030 3223 1987 1385 1493 1277 0 0 0 0 0 0 28.83 26.45 28.83

7339 1.25 232.6 3223 1987 1492 1277 377.2 21.3 305 7340 0.00 0.00 0.00 0.000 6 0.000 0.000 3223 1987 1384 1492 1277 0 0 0 0 0 0 28.83 28.83 28.83

7637 1.25 232.6 3222 1987 1492 1277 315.0 19.5 320 7643 0.00 2.22 0.00 0.000 260 0.000 0.046 3223 3403 1385 1493 1277 0 0 0 0 0 0 28.83 26.29 28.83

7703 1.25 232.6 3222 3402 1492 1277 301.0 20.5 323 7709 0.00 2.12 0.00 0.000 1030 0.000 0.029 3234 1987 1384 1492 1277 0 0 0 0 0 0 28.83 26.46 28.83

8031 1.25 232.6 3234 1986 1491 1275 233.8 20.9 339 8036 0.00 2.12 0.00 0.000 516 0.000 0.041 3245 601 1383 1491 1276 0 0 0 0 0 0 28.83 26.33 28.83

8081 1.25 232.6 3245 601 1491 1276 223.3 21.5 341 8087 0.12 2.08 0.00 0.000 5126 0.164 0.031 3213 1990 1383 1490 1276 0 0 0 0 0 0 26.09 26.41 28.83

8283 1.25 232.6 3214 1990 1491 1276 183.1 18.6 351 8289 0.00 2.20 0.00 0.000 260 0.000 0.047 3214 3399 1383 1491 1276 0 0 0 0 0 0 28.83 26.29 28.83

8330 1.25 232.6 2176 3399 1462 1273 173.9 19.3 353 8336 0.00 2.12 0.00 0.000 1030 0.000 0.030 3225 1980 1383 1491 1276 0 0 0 0 0 0 28.83 26.46 28.83

8536 1.25 232.6 3225 1978 1491 1275 137.4 17.2 363 8542 0.00 2.22 0.00 0.000 260 0.000 0.046 3225 3400 1383 1491 1275 0 0 0 0 0 0 28.83 26.28 28.83

8576 1.25 232.6 3224 3400 1491 1275 133.0 17.0 364 8585 0.00 2.10 0.00 0.000 1030 0.000 0.029 3236 1990 1383 1491 1275 0 0 0 0 0 0 28.83 26.46 28.83

8761 1.25 232.6 3236 1989 1491 1275 96.0 19.1 374 8768 0.00 2.22 0.00 0.000 260 0.000 0.045 3236 3409 1383 1491 1275 0 0 0 0 0 0 28.83 26.28 28.83

8795 1.25 232.6 3236 3409 1491 1275 90.8 19.3 375 8802 0.12 2.10 0.00 0.000 5126 0.166 0.029 3216 1996 1383 1491 1275 0 0 0 0 0 0 26.09 26.44 28.83

8992 1.25 232.6 3215 1994 1491 1273 60.0 12.5 385 8998 0.00 2.20 0.00 0.000 260 0.000 0.046 3216 3399 1382 1491 1273 0 0 0 0 0 0 28.83 26.27 28.83

9169 1.40 274.0 3215 3400 1491 1273 42.2 7.3 397 9229 0.00 2.03 52.95 0.395 9222 0.000 0.028 3226 2018 1256 1373 1140 0 0 0 0 0 0 28.83 26.49 25.51

9410 1.40 274.0 2216 2014 1326 1118 21.9 12.0 422 9418 0.00 2.15 0.00 0.000 516 0.000 0.040 3237 624 1234 1348 1120 0 0 0 0 0 0 28.83 26.11 28.83

9565 end climb: SURFACE_DEPTH_REACHED

state 9565 begin surface coast

9594 end surface coast: CONTROL_FINISHED_OK

state 9594 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	324	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	60	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	30	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	-20926.416	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	090413,221031,2323.312,12135.208,42,1.1,43,-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	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090413,221701,2323.575,12135.260,10,1.4,10,-3.1	MHEAD_RNG_PITCHd_Wd	207.8,2692,-10.9,-8.333,-15.68,4211
SPEED_LIMITS	0.144,0.302	D_GRID	1287

FINISH	0.5,1.022431	_10V_AH	10.1,30.856
SM_CCo	9616,63.33,0.061,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	0.99,8.05,2.95,63.33,0.035,0.037,0.061,110,2496,748,-8.27,-1.13,400.08,0,0,0,0,0,0,26.34,26.16,26.03	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2312.13,12134.45,090413,191947	MEM	323280
TT8_MAMPS	0.047187,0.047187	DATA_FILE_SIZE	16787,456
HUMID	47.91	CAP_FILE_SIZE	256658,0
INTERNAL_PRESSURE	9.60344	CFSIZE	260034560,222015488
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	0.275, 13.4,1
SC_FREEKB	3917056	GPS	100413,010007,2323.646,12134.896,12,1.7,13,-3.1
_24V_AH	23.5,48.613

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	219	103.58	nil	0	0	0.00
Roll_motor	79	55	102.61	nil	0	0	0.00
VBD_pump_during_apogee	676	891	14173.82	nil	0	0	0.00
VBD_pump_during_surface	63	61	91.07	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	9602	4	932.15
Iridium_during_xfer	225	124	660.42	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	27	3.17
TT8	1984	35	720.02
LPSleep	5476	2	121.14
TT8_Active	741	35	269.09
TT8_Sampling	1511	58	891.77
TT8_CF8	374	65	249.10
TT8_Kalman	0	0	0.00
Analog_circuits	1746	15	264.66
GPS_charging	0	0	0.00
Compass	1220	5	73.83
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	-1.25	-232.6	126	2497	834	661	0.0	0.0	0	83	0.00	0.00	-61.22	0.000	16386	0.000	0.000	125	2497	2578	2640	2516	0	0	0	0	0	0	28.83	28.83	28.83
86	-1.25	-232.6	126	2497	2645	2516	4.6	-9.5	8	118	9.00	2.15	-11.80	0.000	18948	0.220	0.044	2399	1106	3335	3401	3270	0	0	0	0	0	0	25.48	26.09	26.45
220	-1.25	-232.6	2399	1107	3404	3270	54.2	-27.2	22	226	0.00	2.15	0.00	0.000	1030	0.000	0.036	2389	2507	3337	3404	3270	0	0	0	0	0	0	28.83	26.09	28.83
426	-1.25	-232.6	2389	2508	3407	3270	110.8	-25.2	32	428	0.00	0.00	0.00	0.000	6	0.000	0.000	2389	2507	3338	3407	3270	0	0	0	0	0	0	28.83	28.83	28.83
605	-1.25	-232.6	2389	2507	3412	3271	162.2	-29.6	41	606	0.00	0.00	0.00	0.000	6	0.000	0.000	2389	2507	3342	3414	3271	0	0	0	0	0	0	28.83	28.83	28.83
786	-1.25	-232.6	2389	2507	3413	3273	214.1	-28.4	50	791	0.00	1.83	0.00	0.000	260	0.000	0.052	2380	3675	3343	3413	3273	0	0	0	0	0	0	28.83	26.22	28.83
867	-1.25	-232.6	2379	3676	3412	3274	233.8	-28.5	53	876	0.00	1.73	0.00	0.000	1030	0.000	0.024	2380	2469	3343	3413	3273	0	0	0	0	0	0	28.83	26.46	28.83
1055	-1.25	-232.6	2380	2468	3413	3274	288.7	-27.5	63	1060	0.00	1.90	0.00	0.000	260	0.000	0.054	2371	3676	3342	3412	3273	0	0	0	0	0	0	28.83	26.25	28.83
1104	-1.25	-232.6	1424	3674	3398	3269	300.5	-27.0	65	1111	0.12	1.70	0.00	0.000	3078	0.153	0.024	2404	2483	3343	3413	3274	0	0	0	0	0	0	26.16	26.51	28.83
1427	-1.25	-232.6	2403	2483	3413	3274	377.7	-23.0	81	1428	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2483	3343	3413	3274	0	0	0	0	0	0	28.83	28.83	28.83
1724	-1.25	-232.6	2403	2484	3413	3273	445.4	-21.5	96	1731	0.00	2.03	0.00	0.000	516	0.000	0.028	2404	1108	3343	3413	3273	0	0	0	0	0	0	28.83	26.45	28.83
1781	-1.25	-232.6	2404	1108	3413	3273	455.2	-21.3	98	1787	0.00	2.12	0.00	0.000	1030	0.000	0.037	2394	2502	3343	3413	3273	0	0	0	0	0	0	28.83	26.35	28.83
2095	-1.25	-232.6	2391	2502	3413	3273	526.9	-22.3	114	2101	0.00	1.85	0.00	0.000	260	0.000	0.053	2385	3684	3343	3413	3273	0	0	0	0	0	0	28.83	26.29	28.83
2227	-1.25	-232.6	2385	3684	3413	3272	555.5	-22.8	120	2233	0.00	1.70	0.00	0.000	1030	0.000	0.027	2385	2509	3342	3413	3272	0	0	0	0	0	0	28.83	26.57	28.83
2547	-1.25	-232.6	2385	2509	3413	3267	628.1	-21.6	134	2553	0.00	1.83	0.00	0.000	260	0.000	0.054	2376	3669	3338	3410	3267	0	0	0	0	0	0	28.83	26.29	28.83
2613	-1.25	-232.6	2376	3669	3413	3266	642.0	-21.1	136	2620	0.12	1.70	0.00	0.000	3078	0.147	0.027	2410	2497	3338	3413	3264	0	0	0	0	0	0	26.24	26.58	28.83
2949	-1.25	-232.6	2410	2496	3413	3262	702.7	-17.5	147	2950	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2497	3337	3413	3261	0	0	0	0	0	0	28.83	28.83	28.83
3249	-1.25	-232.6	2410	2497	3412	3256	757.0	-18.2	157	3250	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2497	3334	3413	3256	0	0	0	0	0	0	28.83	28.83	28.83
3549	-1.25	-232.6	2410	2496	3410	3253	812.8	-18.9	167	3555	0.00	2.05	0.00	0.000	516	0.000	0.031	2410	1111	3331	3410	3253	0	0	0	0	0	0	28.83	26.44	28.83
3595	-1.25	-232.6	2410	1111	3413	3252	819.4	-18.8	168	3602	0.00	2.15	0.00	0.000	1030	0.000	0.041	2401	2505	3330	3410	3251	0	0	0	0	0	0	28.83	26.31	28.83
3920	-1.25	-232.6	2400	2505	3407	3250	884.0	-19.8	179	3926	0.00	1.85	0.00	0.000	260	0.000	0.055	2392	3670	3326	3404	3249	0	0	0	0	0	0	28.83	26.24	28.83
4031	-1.25	-232.6	2391	3669	3407	3249	903.4	-20.2	182	4036	0.00	1.67	0.00	0.000	1030	0.000	0.028	2392	2512	3328	3406	3251	0	0	0	0	0	0	28.83	26.55	28.83
4258	end dive: TARGET_DEPTH_EXCEEDED
state	4259	begin apogee
4265	-0.20	0.0	2392	1987	3405	3246	950.6	-19.1	190	4641	1.08	0.00	364.35	0.766	10244	0.118	0.000	2743	1987	2373	2530	2216	0	0	0	0	0	0	25.83	28.83	24.12
4643	end apogee: CONTROL_FINISHED_OK
state	4643	begin climb
4646	1.25	232.6	2743	1987	2527	2212	970.7	0.0	201	4916	1.33	2.20	258.88	0.892	10756	0.051	0.036	3221	631	1427	1536	1318	0	0	0	0	0	0	25.01	24.99	23.55
5076	1.25	232.6	3220	631	1502	1287	905.5	23.9	214	5085	0.00	2.17	0.00	0.000	1030	0.000	0.031	3221	2023	1394	1502	1287	0	0	0	0	0	0	28.83	25.58	28.83
5386	1.25	232.6	3220	2023	1499	1285	825.8	23.1	225	5392	0.00	2.17	0.00	0.000	260	0.000	0.047	3221	3402	1391	1497	1285	0	0	0	0	0	0	28.83	26.04	28.83
5626	1.25	232.6	3220	3402	1496	1285	770.5	25.6	232	5632	0.00	2.08	0.00	0.000	1030	0.000	0.028	3232	2010	1390	1496	1284	0	0	0	0	0	0	28.83	26.28	28.83
5944	1.25	232.6	3232	2010	1496	1283	688.8	24.1	243	5945	0.00	0.00	0.00	0.000	6	0.000	0.000	3232	2010	1389	1496	1283	0	0	0	0	0	0	28.83	28.83	28.83
6242	1.25	232.6	3232	2010	1495	1282	618.4	23.2	253	6248	0.00	2.20	0.00	0.000	260	0.000	0.046	3232	3410	1388	1495	1282	0	0	0	0	0	0	28.83	26.28	28.83
6288	1.25	232.6	3234	3410	1495	1282	610.0	23.4	254	6295	0.12	2.12	0.00	0.000	5126	0.174	0.028	3212	1987	1388	1495	1282	0	0	0	0	0	0	26.06	26.41	28.83
6606	1.25	232.6	3212	1987	1494	1280	537.8	21.8	269	6608	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	1987	1386	1494	1279	0	0	0	0	0	0	28.83	28.83	28.83
6904	1.25	232.6	3212	1987	1494	1278	470.7	22.1	284	6910	0.00	2.22	0.00	0.000	260	0.000	0.047	3212	3402	1386	1494	1278	0	0	0	0	0	0	28.83	26.29	28.83
7011	1.25	232.6	3212	3402	1494	1278	446.7	22.0	289	7018	0.00	2.12	0.00	0.000	1030	0.000	0.030	3223	1987	1385	1493	1277	0	0	0	0	0	0	28.83	26.45	28.83
7339	1.25	232.6	3223	1987	1492	1277	377.2	21.3	305	7340	0.00	0.00	0.00	0.000	6	0.000	0.000	3223	1987	1384	1492	1277	0	0	0	0	0	0	28.83	28.83	28.83
7637	1.25	232.6	3222	1987	1492	1277	315.0	19.5	320	7643	0.00	2.22	0.00	0.000	260	0.000	0.046	3223	3403	1385	1493	1277	0	0	0	0	0	0	28.83	26.29	28.83
7703	1.25	232.6	3222	3402	1492	1277	301.0	20.5	323	7709	0.00	2.12	0.00	0.000	1030	0.000	0.029	3234	1987	1384	1492	1277	0	0	0	0	0	0	28.83	26.46	28.83
8031	1.25	232.6	3234	1986	1491	1275	233.8	20.9	339	8036	0.00	2.12	0.00	0.000	516	0.000	0.041	3245	601	1383	1491	1276	0	0	0	0	0	0	28.83	26.33	28.83
8081	1.25	232.6	3245	601	1491	1276	223.3	21.5	341	8087	0.12	2.08	0.00	0.000	5126	0.164	0.031	3213	1990	1383	1490	1276	0	0	0	0	0	0	26.09	26.41	28.83
8283	1.25	232.6	3214	1990	1491	1276	183.1	18.6	351	8289	0.00	2.20	0.00	0.000	260	0.000	0.047	3214	3399	1383	1491	1276	0	0	0	0	0	0	28.83	26.29	28.83
8330	1.25	232.6	2176	3399	1462	1273	173.9	19.3	353	8336	0.00	2.12	0.00	0.000	1030	0.000	0.030	3225	1980	1383	1491	1276	0	0	0	0	0	0	28.83	26.46	28.83
8536	1.25	232.6	3225	1978	1491	1275	137.4	17.2	363	8542	0.00	2.22	0.00	0.000	260	0.000	0.046	3225	3400	1383	1491	1275	0	0	0	0	0	0	28.83	26.28	28.83
8576	1.25	232.6	3224	3400	1491	1275	133.0	17.0	364	8585	0.00	2.10	0.00	0.000	1030	0.000	0.029	3236	1990	1383	1491	1275	0	0	0	0	0	0	28.83	26.46	28.83
8761	1.25	232.6	3236	1989	1491	1275	96.0	19.1	374	8768	0.00	2.22	0.00	0.000	260	0.000	0.045	3236	3409	1383	1491	1275	0	0	0	0	0	0	28.83	26.28	28.83
8795	1.25	232.6	3236	3409	1491	1275	90.8	19.3	375	8802	0.12	2.10	0.00	0.000	5126	0.166	0.029	3216	1996	1383	1491	1275	0	0	0	0	0	0	26.09	26.44	28.83
8992	1.25	232.6	3215	1994	1491	1273	60.0	12.5	385	8998	0.00	2.20	0.00	0.000	260	0.000	0.046	3216	3399	1382	1491	1273	0	0	0	0	0	0	28.83	26.27	28.83
9169	1.40	274.0	3215	3400	1491	1273	42.2	7.3	397	9229	0.00	2.03	52.95	0.395	9222	0.000	0.028	3226	2018	1256	1373	1140	0	0	0	0	0	0	28.83	26.49	25.51
9410	1.40	274.0	2216	2014	1326	1118	21.9	12.0	422	9418	0.00	2.15	0.00	0.000	516	0.000	0.040	3237	624	1234	1348	1120	0	0	0	0	0	0	28.83	26.11	28.83
9565	end climb: SURFACE_DEPTH_REACHED
state	9565	begin surface coast
9594	end surface coast: CONTROL_FINISHED_OK
state	9594	begin surface