Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 327 * 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 327 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 59 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 26 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 -20930.188 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 -20930.188

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 59 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 26 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 327 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 100413,063105,2323.526,12134.757,30,1.8,31,-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 1.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100413,063823,2323.670,12134.779,14,2.0,24,-3.1 MHEAD_RNG_PITCHd_Wd 196.6,2581,-12.7,-8.333,-17.17,3360

SPEED_LIMITS 0.144,0.302 D_GRID 1287

Post-dive calculations and measurements:

FINISH -0.2,1.022560 _10V_AH 10.1,31.111

SM_CCo 9227,39.20,0.058,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 0.68,8.43,0.77,39.20,0.023,0.050,0.058,130,2498,748,-8.26,-1.30,400.08,0,0,0,0,0,0,25.67,25.60,25.61 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2314.48,12134.45,100413,030323 MEM 323264

TT8_MAMPS 0.047187,0.047187 DATA_FILE_SIZE 16771,422

HUMID 48.07 CAP_FILE_SIZE 252347,0

INTERNAL_PRESSURE 9.59367 CFSIZE 260034560,221749248

TCM_TEMP 22.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.054, 20.7,1

SC_FREEKB 3916096 GPS 100413,091530,2322.542,12134.462,67,0.8,67,-3.1

_24V_AH 23.9,49.137

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 212 104.83 nil 0 0 0.00

Roll_motor 84 55 112.45 nil 0 0 0.00

VBD_pump_during_apogee 935 771 17245.66 nil 0 0 0.00

VBD_pump_during_surface 39 58 54.47 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 9207 4 899.99

Iridium_during_xfer 259 123 763.73 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 27 7.00

TT8 1848 35 670.84

LPSleep 5023 2 111.12

TT8_Active 908 35 329.62

TT8_Sampling 1570 58 926.59

TT8_CF8 372 65 247.71

TT8_Kalman 0 0 0.00

Analog_circuits 2002 15 303.32

GPS_charging 0 0 0.00

Compass 1230 5 74.44

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 -1.15 -184.9 116 2491 847 657 0.0 0.0 0 67 0.00 0.00 -45.05 0.000 16386 0.000 0.000 116 2491 2026 2056 1997 0 0 0 0 0 0 28.83 28.83 28.83

71 -1.32 -230.7 116 2491 2059 1997 3.3 -6.9 6 112 8.80 2.17 -24.83 0.000 18948 0.213 0.042 2379 1088 3326 3395 3257 0 0 0 0 0 0 25.48 26.13 26.49

227 -1.32 -230.7 2378 1088 3398 3257 51.6 -30.7 24 233 0.00 2.20 0.00 0.000 1030 0.000 0.038 2367 2505 3327 3398 3257 0 0 0 0 0 0 28.83 26.08 28.83

434 -1.32 -230.7 2369 2505 3401 3257 108.5 -27.7 34 440 0.00 1.85 0.00 0.000 260 0.000 0.053 2360 3674 3329 3401 3257 0 0 0 0 0 0 28.83 26.13 28.83

555 -1.32 -230.7 2360 3674 3404 3257 141.1 -30.3 39 563 0.00 1.65 0.00 0.000 1030 0.000 0.024 2361 2512 3330 3404 3257 0 0 0 0 0 0 28.83 26.41 28.83

742 -1.32 -230.7 2360 2512 3405 3259 203.0 -31.2 49 748 0.00 1.83 0.00 0.000 260 0.000 0.053 2352 3673 3332 3406 3259 0 0 0 0 0 0 28.83 26.20 28.83

847 -1.32 -230.7 2351 3672 3405 3259 231.3 -31.8 53 856 0.10 1.62 0.00 0.000 3078 0.135 0.024 2384 2564 3332 3406 3259 0 0 0 0 0 0 26.09 26.48 28.83

1033 -1.32 -230.7 2384 2562 3405 3259 285.2 -26.2 63 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2562 3332 3406 3259 0 0 0 0 0 0 28.83 28.83 28.83

1333 -1.32 -230.7 2384 2562 3405 3259 360.1 -24.3 78 1339 0.00 2.12 0.00 0.000 516 0.000 0.026 2385 1111 3332 3406 3259 0 0 0 0 0 0 28.83 26.45 28.83

1351 -1.32 -230.7 2384 1111 3406 3258 360.1 -24.3 78 1360 0.00 2.22 0.00 0.000 1030 0.000 0.039 2375 2557 3332 3405 3259 0 0 0 0 0 0 28.83 26.31 28.83

1658 -1.32 -230.7 2374 2557 3406 3259 440.2 -24.7 94 1665 0.00 1.75 0.00 0.000 260 0.000 0.054 2366 3674 3331 3403 3259 0 0 0 0 0 0 28.83 26.27 28.83

1730 -1.32 -230.7 2366 3674 3405 3259 457.5 -25.6 97 1736 0.00 1.58 0.00 0.000 1030 0.000 0.027 2366 2576 3332 3406 3259 0 0 0 0 0 0 28.83 26.55 28.83

2052 -1.32 -230.7 2366 2576 3405 3259 537.1 -23.8 113 2053 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2576 3332 3405 3259 0 0 0 0 0 0 28.83 28.83 28.83

2349 -1.32 -230.7 2366 2576 3405 3254 603.3 -21.8 128 2355 0.00 2.15 0.00 0.000 516 0.000 0.028 2366 1116 3329 3405 3254 0 0 0 0 0 0 28.83 26.46 28.83

2389 -1.32 -230.7 2366 1116 3405 3254 611.1 -22.3 129 2396 0.12 2.22 0.00 0.000 3078 0.163 0.041 2387 2562 3329 3405 3254 0 0 0 0 0 0 26.08 26.32 28.83

2720 -1.32 -230.7 2387 2562 3405 3249 685.8 -22.5 140 2726 0.00 1.75 0.00 0.000 260 0.000 0.056 2379 3675 3327 3405 3249 0 0 0 0 0 0 28.83 26.26 28.83

2770 -1.32 -230.7 2379 3675 3405 3248 693.6 -22.2 141 2775 0.00 1.58 0.00 0.000 1030 0.000 0.028 2379 2582 3326 3405 3248 0 0 0 0 0 0 28.83 26.56 28.83

3089 -1.32 -230.7 2379 2582 3405 3243 765.1 -22.3 152 3095 0.00 2.17 0.00 0.000 516 0.000 0.028 2379 1109 3324 3405 3243 0 0 0 0 0 0 28.83 26.44 28.83

3154 -1.32 -230.7 1440 1109 3389 3238 779.6 -22.4 154 3160 0.00 2.25 0.00 0.000 1030 0.000 0.041 2369 2560 3323 3405 3242 0 0 0 0 0 0 28.83 26.30 28.83

3488 -1.32 -230.7 2369 2560 3401 3240 855.5 -22.8 165 3490 0.00 0.00 0.00 0.000 6 0.000 0.000 2369 2560 3320 3401 3240 0 0 0 0 0 0 28.83 28.83 28.83

3789 -1.32 -230.7 2369 2560 3399 3237 922.5 -21.8 175 3796 0.00 2.15 0.00 0.000 516 0.000 0.031 2370 1121 3318 3399 3237 0 0 0 0 0 0 28.83 26.43 28.83

3844 -1.32 -230.7 2369 1121 3400 3236 930.1 -21.5 176 3850 0.00 2.22 0.00 0.000 1030 0.000 0.041 2360 2560 3317 3399 3235 0 0 0 0 0 0 28.83 26.29 28.83

3949 end dive: TARGET_DEPTH_EXCEEDED

state 3949 begin apogee

3956 -0.20 0.0 2358 2010 3398 3235 956.4 -21.2 180 4322 1.17 0.00 356.73 0.771 10244 0.124 0.000 2737 2009 2376 2533 2220 0 0 0 0 0 0 25.79 28.83 24.14

4324 end apogee: CONTROL_FINISHED_OK

state 4324 begin climb

4327 1.32 230.7 2737 2009 2529 2210 985.0 0.0 191 4689 1.40 2.28 347.62 0.760 10756 0.050 0.034 3241 610 1437 1547 1327 0 0 0 0 0 0 25.00 24.98 23.89

4775 1.32 230.7 3240 609 1520 1302 924.7 22.8 205 4781 0.00 2.22 0.00 0.000 1030 0.000 0.031 3244 2018 1410 1519 1302 0 0 0 0 0 0 28.83 25.33 28.83

5110 1.32 230.7 3240 2018 1514 1297 841.8 26.6 216 5116 0.00 2.17 0.00 0.000 516 0.000 0.037 3252 612 1404 1514 1295 0 0 0 0 0 0 28.83 26.06 28.83

5331 1.32 230.7 3252 612 1512 1296 784.6 25.3 223 5337 0.00 2.10 0.00 0.000 1030 0.000 0.031 3252 1999 1404 1513 1296 0 0 0 0 0 0 28.83 26.22 28.83

5666 1.32 230.7 3252 1999 1511 1295 705.1 23.3 234 5672 0.00 2.20 0.00 0.000 260 0.000 0.046 3252 3404 1402 1511 1294 0 0 0 0 0 0 28.83 26.25 28.83

5702 1.32 230.7 3252 3404 1511 1294 696.4 23.6 235 5708 0.12 2.10 0.00 0.000 5126 0.179 0.029 3232 1996 1402 1511 1294 0 0 0 0 0 0 26.01 26.36 28.83

6038 1.32 230.7 3232 1996 1510 1293 618.6 23.8 246 6044 0.00 2.22 0.00 0.000 260 0.000 0.047 3232 3408 1401 1509 1293 0 0 0 0 0 0 28.83 26.28 28.83

6065 1.32 230.7 2272 3406 1482 1290 618.6 23.8 246 6073 0.00 2.10 0.00 0.000 1030 0.000 0.030 3244 2002 1401 1510 1293 0 0 0 0 0 0 28.83 26.41 28.83

6374 1.32 230.7 3243 2001 1510 1290 539.7 22.7 261 6379 0.00 2.20 0.00 0.000 260 0.000 0.046 3243 3402 1400 1510 1290 0 0 0 0 0 0 28.83 26.29 28.83

6414 1.32 230.7 3243 3402 1510 1290 534.2 22.7 262 6423 0.00 2.10 0.00 0.000 1030 0.000 0.030 3255 2007 1400 1510 1290 0 0 0 0 0 0 28.83 26.44 28.83

6719 1.32 230.7 3255 2007 1509 1289 459.6 23.5 278 6726 0.00 2.20 0.00 0.000 260 0.000 0.045 3255 3411 1399 1509 1289 0 0 0 0 0 0 28.83 26.31 28.83

6791 1.32 230.7 3255 3410 1509 1289 442.2 25.2 281 6798 0.12 2.12 0.00 0.000 5126 0.178 0.030 3235 1991 1399 1509 1289 0 0 0 0 0 0 26.07 26.44 28.83

7113 1.32 230.7 3235 1991 1508 1287 371.6 21.0 297 7119 0.00 2.12 0.00 0.000 516 0.000 0.041 3246 607 1397 1508 1287 0 0 0 0 0 0 28.83 26.34 28.83

7153 1.32 230.7 3246 607 1507 1287 366.3 20.4 298 7161 0.00 2.10 0.00 0.000 1030 0.000 0.031 3246 2006 1397 1507 1287 0 0 0 0 0 0 28.83 26.41 28.83

7458 1.32 230.7 3245 2007 1507 1286 301.8 20.2 314 7464 0.00 2.17 0.00 0.000 260 0.000 0.047 3246 3402 1396 1507 1286 0 0 0 0 0 0 28.83 26.29 28.83

7585 1.32 230.7 3245 3402 1506 1283 272.6 23.6 320 7592 0.00 2.08 0.00 0.000 1030 0.000 0.028 3257 2012 1396 1506 1286 0 0 0 0 0 0 28.83 26.46 28.83

7912 1.32 230.7 3257 2012 1506 1285 201.7 19.4 336 7918 0.00 2.17 0.00 0.000 260 0.000 0.044 3257 3403 1395 1506 1285 0 0 0 0 0 0 28.83 26.30 28.83

7981 1.32 230.7 3257 3403 1506 1285 187.7 19.7 339 7988 0.12 2.08 0.00 0.000 5126 0.171 0.028 3236 2013 1395 1506 1285 0 0 0 0 0 0 26.09 26.46 28.83

8186 1.32 230.7 3236 2013 1506 1285 152.4 17.1 349 8192 0.00 2.15 0.00 0.000 516 0.000 0.041 3247 609 1395 1505 1285 0 0 0 0 0 0 28.83 26.32 28.83

8317 1.32 230.7 3246 608 1506 1285 129.4 18.1 355 8324 0.00 2.10 0.00 0.000 1030 0.000 0.030 3247 2016 1395 1506 1285 0 0 0 0 0 0 28.83 26.41 28.83

8521 1.32 230.7 3246 2016 1506 1286 95.1 16.4 365 8527 0.00 2.15 0.00 0.000 260 0.000 0.047 3247 3400 1395 1506 1285 0 0 0 0 0 0 28.83 26.28 28.83

8761 1.32 230.7 3247 3400 1506 1285 51.4 18.6 376 8767 0.00 2.03 0.00 0.000 1030 0.000 0.028 3258 2017 1395 1506 1285 0 0 0 0 0 0 28.83 26.49 28.83

8956 1.69 337.1 3258 2017 1506 1284 35.4 5.1 395 9192 0.22 0.00 231.40 0.373 11010 0.059 0.000 3371 2015 1043 1160 926 0 0 0 0 0 0 26.58 28.83 28.83

9193 end climb: SURFACE_DEPTH_REACHED

state 9194 begin surface coast

9207 end surface coast: CONTROL_FINISHED_OK

state 9207 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	327	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	59	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	26	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	-20930.188	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	100413,063105,2323.526,12134.757,30,1.8,31,-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	1.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100413,063823,2323.670,12134.779,14,2.0,24,-3.1	MHEAD_RNG_PITCHd_Wd	196.6,2581,-12.7,-8.333,-17.17,3360
SPEED_LIMITS	0.144,0.302	D_GRID	1287

FINISH	-0.2,1.022560	_10V_AH	10.1,31.111
SM_CCo	9227,39.20,0.058,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	0.68,8.43,0.77,39.20,0.023,0.050,0.058,130,2498,748,-8.26,-1.30,400.08,0,0,0,0,0,0,25.67,25.60,25.61	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2314.48,12134.45,100413,030323	MEM	323264
TT8_MAMPS	0.047187,0.047187	DATA_FILE_SIZE	16771,422
HUMID	48.07	CAP_FILE_SIZE	252347,0
INTERNAL_PRESSURE	9.59367	CFSIZE	260034560,221749248
TCM_TEMP	22.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.054, 20.7,1
SC_FREEKB	3916096	GPS	100413,091530,2322.542,12134.462,67,0.8,67,-3.1
_24V_AH	23.9,49.137

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	212	104.83	nil	0	0	0.00
Roll_motor	84	55	112.45	nil	0	0	0.00
VBD_pump_during_apogee	935	771	17245.66	nil	0	0	0.00
VBD_pump_during_surface	39	58	54.47	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	9207	4	899.99
Iridium_during_xfer	259	123	763.73	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	27	7.00
TT8	1848	35	670.84
LPSleep	5023	2	111.12
TT8_Active	908	35	329.62
TT8_Sampling	1570	58	926.59
TT8_CF8	372	65	247.71
TT8_Kalman	0	0	0.00
Analog_circuits	2002	15	303.32
GPS_charging	0	0	0.00
Compass	1230	5	74.44
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	-1.15	-184.9	116	2491	847	657	0.0	0.0	0	67	0.00	0.00	-45.05	0.000	16386	0.000	0.000	116	2491	2026	2056	1997	0	0	0	0	0	0	28.83	28.83	28.83
71	-1.32	-230.7	116	2491	2059	1997	3.3	-6.9	6	112	8.80	2.17	-24.83	0.000	18948	0.213	0.042	2379	1088	3326	3395	3257	0	0	0	0	0	0	25.48	26.13	26.49
227	-1.32	-230.7	2378	1088	3398	3257	51.6	-30.7	24	233	0.00	2.20	0.00	0.000	1030	0.000	0.038	2367	2505	3327	3398	3257	0	0	0	0	0	0	28.83	26.08	28.83
434	-1.32	-230.7	2369	2505	3401	3257	108.5	-27.7	34	440	0.00	1.85	0.00	0.000	260	0.000	0.053	2360	3674	3329	3401	3257	0	0	0	0	0	0	28.83	26.13	28.83
555	-1.32	-230.7	2360	3674	3404	3257	141.1	-30.3	39	563	0.00	1.65	0.00	0.000	1030	0.000	0.024	2361	2512	3330	3404	3257	0	0	0	0	0	0	28.83	26.41	28.83
742	-1.32	-230.7	2360	2512	3405	3259	203.0	-31.2	49	748	0.00	1.83	0.00	0.000	260	0.000	0.053	2352	3673	3332	3406	3259	0	0	0	0	0	0	28.83	26.20	28.83
847	-1.32	-230.7	2351	3672	3405	3259	231.3	-31.8	53	856	0.10	1.62	0.00	0.000	3078	0.135	0.024	2384	2564	3332	3406	3259	0	0	0	0	0	0	26.09	26.48	28.83
1033	-1.32	-230.7	2384	2562	3405	3259	285.2	-26.2	63	1035	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2562	3332	3406	3259	0	0	0	0	0	0	28.83	28.83	28.83
1333	-1.32	-230.7	2384	2562	3405	3259	360.1	-24.3	78	1339	0.00	2.12	0.00	0.000	516	0.000	0.026	2385	1111	3332	3406	3259	0	0	0	0	0	0	28.83	26.45	28.83
1351	-1.32	-230.7	2384	1111	3406	3258	360.1	-24.3	78	1360	0.00	2.22	0.00	0.000	1030	0.000	0.039	2375	2557	3332	3405	3259	0	0	0	0	0	0	28.83	26.31	28.83
1658	-1.32	-230.7	2374	2557	3406	3259	440.2	-24.7	94	1665	0.00	1.75	0.00	0.000	260	0.000	0.054	2366	3674	3331	3403	3259	0	0	0	0	0	0	28.83	26.27	28.83
1730	-1.32	-230.7	2366	3674	3405	3259	457.5	-25.6	97	1736	0.00	1.58	0.00	0.000	1030	0.000	0.027	2366	2576	3332	3406	3259	0	0	0	0	0	0	28.83	26.55	28.83
2052	-1.32	-230.7	2366	2576	3405	3259	537.1	-23.8	113	2053	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2576	3332	3405	3259	0	0	0	0	0	0	28.83	28.83	28.83
2349	-1.32	-230.7	2366	2576	3405	3254	603.3	-21.8	128	2355	0.00	2.15	0.00	0.000	516	0.000	0.028	2366	1116	3329	3405	3254	0	0	0	0	0	0	28.83	26.46	28.83
2389	-1.32	-230.7	2366	1116	3405	3254	611.1	-22.3	129	2396	0.12	2.22	0.00	0.000	3078	0.163	0.041	2387	2562	3329	3405	3254	0	0	0	0	0	0	26.08	26.32	28.83
2720	-1.32	-230.7	2387	2562	3405	3249	685.8	-22.5	140	2726	0.00	1.75	0.00	0.000	260	0.000	0.056	2379	3675	3327	3405	3249	0	0	0	0	0	0	28.83	26.26	28.83
2770	-1.32	-230.7	2379	3675	3405	3248	693.6	-22.2	141	2775	0.00	1.58	0.00	0.000	1030	0.000	0.028	2379	2582	3326	3405	3248	0	0	0	0	0	0	28.83	26.56	28.83
3089	-1.32	-230.7	2379	2582	3405	3243	765.1	-22.3	152	3095	0.00	2.17	0.00	0.000	516	0.000	0.028	2379	1109	3324	3405	3243	0	0	0	0	0	0	28.83	26.44	28.83
3154	-1.32	-230.7	1440	1109	3389	3238	779.6	-22.4	154	3160	0.00	2.25	0.00	0.000	1030	0.000	0.041	2369	2560	3323	3405	3242	0	0	0	0	0	0	28.83	26.30	28.83
3488	-1.32	-230.7	2369	2560	3401	3240	855.5	-22.8	165	3490	0.00	0.00	0.00	0.000	6	0.000	0.000	2369	2560	3320	3401	3240	0	0	0	0	0	0	28.83	28.83	28.83
3789	-1.32	-230.7	2369	2560	3399	3237	922.5	-21.8	175	3796	0.00	2.15	0.00	0.000	516	0.000	0.031	2370	1121	3318	3399	3237	0	0	0	0	0	0	28.83	26.43	28.83
3844	-1.32	-230.7	2369	1121	3400	3236	930.1	-21.5	176	3850	0.00	2.22	0.00	0.000	1030	0.000	0.041	2360	2560	3317	3399	3235	0	0	0	0	0	0	28.83	26.29	28.83
3949	end dive: TARGET_DEPTH_EXCEEDED
state	3949	begin apogee
3956	-0.20	0.0	2358	2010	3398	3235	956.4	-21.2	180	4322	1.17	0.00	356.73	0.771	10244	0.124	0.000	2737	2009	2376	2533	2220	0	0	0	0	0	0	25.79	28.83	24.14
4324	end apogee: CONTROL_FINISHED_OK
state	4324	begin climb
4327	1.32	230.7	2737	2009	2529	2210	985.0	0.0	191	4689	1.40	2.28	347.62	0.760	10756	0.050	0.034	3241	610	1437	1547	1327	0	0	0	0	0	0	25.00	24.98	23.89
4775	1.32	230.7	3240	609	1520	1302	924.7	22.8	205	4781	0.00	2.22	0.00	0.000	1030	0.000	0.031	3244	2018	1410	1519	1302	0	0	0	0	0	0	28.83	25.33	28.83
5110	1.32	230.7	3240	2018	1514	1297	841.8	26.6	216	5116	0.00	2.17	0.00	0.000	516	0.000	0.037	3252	612	1404	1514	1295	0	0	0	0	0	0	28.83	26.06	28.83
5331	1.32	230.7	3252	612	1512	1296	784.6	25.3	223	5337	0.00	2.10	0.00	0.000	1030	0.000	0.031	3252	1999	1404	1513	1296	0	0	0	0	0	0	28.83	26.22	28.83
5666	1.32	230.7	3252	1999	1511	1295	705.1	23.3	234	5672	0.00	2.20	0.00	0.000	260	0.000	0.046	3252	3404	1402	1511	1294	0	0	0	0	0	0	28.83	26.25	28.83
5702	1.32	230.7	3252	3404	1511	1294	696.4	23.6	235	5708	0.12	2.10	0.00	0.000	5126	0.179	0.029	3232	1996	1402	1511	1294	0	0	0	0	0	0	26.01	26.36	28.83
6038	1.32	230.7	3232	1996	1510	1293	618.6	23.8	246	6044	0.00	2.22	0.00	0.000	260	0.000	0.047	3232	3408	1401	1509	1293	0	0	0	0	0	0	28.83	26.28	28.83
6065	1.32	230.7	2272	3406	1482	1290	618.6	23.8	246	6073	0.00	2.10	0.00	0.000	1030	0.000	0.030	3244	2002	1401	1510	1293	0	0	0	0	0	0	28.83	26.41	28.83
6374	1.32	230.7	3243	2001	1510	1290	539.7	22.7	261	6379	0.00	2.20	0.00	0.000	260	0.000	0.046	3243	3402	1400	1510	1290	0	0	0	0	0	0	28.83	26.29	28.83
6414	1.32	230.7	3243	3402	1510	1290	534.2	22.7	262	6423	0.00	2.10	0.00	0.000	1030	0.000	0.030	3255	2007	1400	1510	1290	0	0	0	0	0	0	28.83	26.44	28.83
6719	1.32	230.7	3255	2007	1509	1289	459.6	23.5	278	6726	0.00	2.20	0.00	0.000	260	0.000	0.045	3255	3411	1399	1509	1289	0	0	0	0	0	0	28.83	26.31	28.83
6791	1.32	230.7	3255	3410	1509	1289	442.2	25.2	281	6798	0.12	2.12	0.00	0.000	5126	0.178	0.030	3235	1991	1399	1509	1289	0	0	0	0	0	0	26.07	26.44	28.83
7113	1.32	230.7	3235	1991	1508	1287	371.6	21.0	297	7119	0.00	2.12	0.00	0.000	516	0.000	0.041	3246	607	1397	1508	1287	0	0	0	0	0	0	28.83	26.34	28.83
7153	1.32	230.7	3246	607	1507	1287	366.3	20.4	298	7161	0.00	2.10	0.00	0.000	1030	0.000	0.031	3246	2006	1397	1507	1287	0	0	0	0	0	0	28.83	26.41	28.83
7458	1.32	230.7	3245	2007	1507	1286	301.8	20.2	314	7464	0.00	2.17	0.00	0.000	260	0.000	0.047	3246	3402	1396	1507	1286	0	0	0	0	0	0	28.83	26.29	28.83
7585	1.32	230.7	3245	3402	1506	1283	272.6	23.6	320	7592	0.00	2.08	0.00	0.000	1030	0.000	0.028	3257	2012	1396	1506	1286	0	0	0	0	0	0	28.83	26.46	28.83
7912	1.32	230.7	3257	2012	1506	1285	201.7	19.4	336	7918	0.00	2.17	0.00	0.000	260	0.000	0.044	3257	3403	1395	1506	1285	0	0	0	0	0	0	28.83	26.30	28.83
7981	1.32	230.7	3257	3403	1506	1285	187.7	19.7	339	7988	0.12	2.08	0.00	0.000	5126	0.171	0.028	3236	2013	1395	1506	1285	0	0	0	0	0	0	26.09	26.46	28.83
8186	1.32	230.7	3236	2013	1506	1285	152.4	17.1	349	8192	0.00	2.15	0.00	0.000	516	0.000	0.041	3247	609	1395	1505	1285	0	0	0	0	0	0	28.83	26.32	28.83
8317	1.32	230.7	3246	608	1506	1285	129.4	18.1	355	8324	0.00	2.10	0.00	0.000	1030	0.000	0.030	3247	2016	1395	1506	1285	0	0	0	0	0	0	28.83	26.41	28.83
8521	1.32	230.7	3246	2016	1506	1286	95.1	16.4	365	8527	0.00	2.15	0.00	0.000	260	0.000	0.047	3247	3400	1395	1506	1285	0	0	0	0	0	0	28.83	26.28	28.83
8761	1.32	230.7	3247	3400	1506	1285	51.4	18.6	376	8767	0.00	2.03	0.00	0.000	1030	0.000	0.028	3258	2017	1395	1506	1285	0	0	0	0	0	0	28.83	26.49	28.83
8956	1.69	337.1	3258	2017	1506	1284	35.4	5.1	395	9192	0.22	0.00	231.40	0.373	11010	0.059	0.000	3371	2015	1043	1160	926	0	0	0	0	0	0	26.58	28.83	28.83
9193	end climb: SURFACE_DEPTH_REACHED
state	9194	begin surface coast
9207	end surface coast: CONTROL_FINISHED_OK
state	9207	begin surface