Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 334 * 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 334 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DEPTH 400

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 50

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 62 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 37 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 -20940.732 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 25

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 25 D_TGT 950 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 25 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3952 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 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 -20940.732

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 62 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 37 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 334 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 100413,231435,2319.426,12132.545,34,1.1,34,-3.1 TGT_NAME ININSHORE1A

_CALLS 1 TGT_LATLONG 2318.000,12132.750

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100413,232119,2319.638,12132.600,12,1.1,12,-3.1 MHEAD_RNG_PITCHd_Wd 182.0,3045,-27.0,-8.333,-30.00,882

SPEED_LIMITS 0.144,0.302 D_GRID 870

Post-dive calculations and measurements:

FINISH 0.3,1.001592 _24V_AH 24.7,50.089

SM_CCo 7925,84.72,0.061,0,0,747,400.08 _10V_AH 10.3,31.654

SM_GC 0.95,8.40,2.95,84.72,0.032,0.037,0.061,140,2481,747,-8.26,-1.41,400.08,0,0,0,0,0,0,26.27,26.15,26.06 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2309.79,12131.22,100413,212112 FG_AHR_10Vo 0.000

TT8_MAMPS 0.047936,0.047936 MEM 323144

HUMID 46.45 DATA_FILE_SIZE 16788,440

INTERNAL_PRESSURE 9.63274 CAP_FILE_SIZE 259074,0

TCM_TEMP 22.70 CFSIZE 260034560,221175808

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 450.4,5.9 CURRENT 0.139, 12.4,1

SC_FREEKB 3913856 GPS 110413,013635,2319.702,12132.646,31,1.5,31,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 219 110.63 nil 0 0 0.00

Roll_motor 75 51 95.55 nil 0 0 0.00

VBD_pump_during_apogee 340 650 5465.22 nil 0 0 0.00

VBD_pump_during_surface 84 61 128.07 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 7902 5 1056.31

Iridium_during_xfer 244 119 720.93 nil 0 0 0.00

Transponder_ping 1 420 10.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 27 3.94

TT8 2156 35 798.03

LPSleep 3756 2 84.74

TT8_Active 520 35 192.79

TT8_Sampling 1586 58 954.35

TT8_CF8 402 65 273.18

TT8_Kalman 0 0 0.00

Analog_circuits 1485 15 229.54

GPS_charging 0 0 0.00

Compass 1300 5 80.27

RAFOS 0 0 0.00

Transponder 9 30 3.01

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.25 -48.0 116 2497 838 664 0.0 0.0 0 81 0.00 0.00 -60.00 0.000 16386 0.000 0.000 114 2497 2455 2520 2391 0 0 0 0 0 0 28.83 28.83 28.83

84 -1.30 -63.2 115 2497 2524 2391 3.8 -6.6 8 103 8.98 2.15 -3.28 0.000 18948 0.220 0.041 2386 1093 2643 2725 2561 0 0 0 0 0 0 25.54 26.19 26.49

213 -1.30 -63.2 2386 1093 2734 2561 47.2 -26.5 23 219 0.00 2.15 0.00 0.000 1030 0.000 0.035 2376 2500 2647 2734 2561 0 0 0 0 0 0 28.83 26.15 28.83

410 -1.30 -63.2 2376 2500 2737 2561 85.7 -19.2 33 416 0.00 1.83 0.00 0.000 260 0.000 0.051 2368 3671 2649 2737 2561 0 0 0 0 0 0 28.83 26.19 28.83

461 -1.30 -63.2 2367 3671 2738 2561 94.4 -18.5 35 467 0.00 1.70 0.00 0.000 1030 0.000 0.024 2368 2488 2649 2738 2561 0 0 0 0 0 0 28.83 26.42 28.83

663 -1.30 -63.2 2367 2488 2744 2561 137.4 -21.9 45 669 0.00 1.85 0.00 0.000 260 0.000 0.050 2359 3671 2651 2742 2561 0 0 0 0 0 0 28.83 26.26 28.83

908 -1.30 -63.2 2359 3671 2746 2561 194.8 -24.3 56 914 0.12 1.62 0.00 0.000 3078 0.168 0.024 2389 2522 2653 2746 2561 0 0 0 0 0 0 26.13 26.53 28.83

1105 -1.30 -63.2 2389 2521 2747 2561 234.0 -18.3 66 1111 0.00 2.08 0.00 0.000 516 0.000 0.028 2389 1108 2654 2747 2561 0 0 0 0 0 0 28.83 26.46 28.83

1151 -1.30 -63.2 1408 1107 2690 2551 242.3 -18.3 68 1157 0.00 2.17 0.00 0.000 1030 0.000 0.036 2379 2529 2654 2747 2561 0 0 0 0 0 0 28.83 26.36 28.83

1358 -1.30 -63.2 2379 2531 2746 2561 281.5 -18.2 78 1364 0.00 2.08 0.00 0.000 516 0.000 0.028 2379 1115 2654 2747 2561 0 0 0 0 0 0 28.83 26.48 28.83

1398 -1.30 -63.2 2379 1115 2746 2561 286.3 -17.7 79 1406 0.00 2.15 0.00 0.000 1030 0.000 0.036 2369 2530 2654 2747 2561 0 0 0 0 0 0 28.83 26.38 28.83

1704 -1.30 -63.2 2369 2530 2747 2561 350.1 -21.1 95 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2369 2530 2654 2747 2561 0 0 0 0 0 0 28.83 28.83 28.83

2003 -1.30 -63.2 2369 2530 2747 2561 407.2 -18.1 110 2009 0.00 1.77 0.00 0.000 260 0.000 0.050 2360 3675 2654 2747 2561 0 0 0 0 0 0 28.83 26.34 28.83

2163 -1.30 -63.2 2360 3675 2746 2561 432.0 -15.8 117 2170 0.12 1.62 0.00 0.000 3078 0.166 0.024 2391 2533 2654 2747 2561 0 0 0 0 0 0 26.20 26.60 28.83

2299 end dive: BOTTOM_OBSTACLE_DETECTED

state 2299 begin apogee

2306 -0.20 0.0 2391 1984 2747 2561 450.4 -11.6 124 2423 1.08 0.00 106.65 0.567 10244 0.127 0.000 2738 1984 2374 2512 2236 0 0 0 0 0 0 25.91 28.83 24.94

2425 end apogee: CONTROL_FINISHED_OK

state 2425 begin climb

2427 1.30 63.2 2737 1984 2510 2232 457.5 0.0 129 2504 1.42 2.33 65.72 0.650 10500 0.069 0.049 3233 3413 2111 2274 1948 0 0 0 0 0 0 25.63 25.65 24.70

2686 1.38 85.3 3233 3413 2252 1928 451.0 5.8 140 2711 0.00 2.10 19.52 0.604 9222 0.000 0.025 3244 2006 2032 2186 1879 0 0 0 0 0 0 28.83 26.09 25.13

3020 1.43 98.9 3244 2006 2149 1859 431.3 6.7 157 3037 0.00 2.10 11.45 0.600 8708 0.000 0.033 3255 615 1971 2117 1826 0 0 0 0 0 0 28.83 26.17 25.38

3256 1.43 98.9 3255 615 2097 1822 409.9 9.4 168 3262 0.00 2.10 0.00 0.000 1030 0.000 0.029 3256 2021 1959 2097 1822 0 0 0 0 0 0 28.83 26.28 28.83

3579 1.43 98.9 3255 2021 2095 1819 377.9 10.7 184 3585 0.00 2.15 0.00 0.000 260 0.000 0.045 3256 3409 1957 2095 1819 0 0 0 0 0 0 28.83 26.29 28.83

3818 1.43 98.9 3255 3409 2091 1819 350.7 13.2 195 3824 0.00 2.05 0.00 0.000 1030 0.000 0.027 3267 2006 1954 2090 1819 0 0 0 0 0 0 28.83 26.47 28.83

4133 1.43 98.9 3266 2006 2090 1817 314.5 8.9 211 4134 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 2006 1953 2090 1817 0 0 0 0 0 0 28.83 28.83 28.83

4434 1.45 106.5 3267 2006 2088 1815 292.5 7.4 226 4435 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 2006 1951 2088 1815 0 0 0 0 0 0 28.83 28.83 28.83

4733 1.45 106.5 3266 2006 2087 1814 264.8 9.6 241 4739 0.00 2.10 0.00 0.000 516 0.000 0.036 3278 608 1951 2087 1815 0 0 0 0 0 0 28.83 26.41 28.83

4974 1.47 111.4 3278 605 2086 1814 245.4 7.8 252 4993 0.00 2.08 10.38 0.517 9222 0.000 0.029 3277 2004 1921 2060 1783 0 0 0 0 0 0 28.83 26.48 25.53

5193 1.47 111.4 3277 2003 2047 1777 226.8 9.0 263 5199 0.00 2.12 0.00 0.000 516 0.000 0.035 3289 608 1912 2047 1777 0 0 0 0 0 0 28.83 26.37 28.83

5318 1.47 111.4 3288 609 2046 1777 216.2 9.5 268 5326 0.00 2.05 0.00 0.000 1030 0.000 0.028 3289 1992 1911 2046 1776 0 0 0 0 0 0 28.83 26.44 28.83

5503 1.47 111.4 3289 1992 2046 1776 196.1 9.5 278 5509 0.00 2.17 0.00 0.000 260 0.000 0.044 3289 3400 1911 2046 1776 0 0 0 0 0 0 28.83 26.34 28.83

5559 1.47 111.4 3288 3400 2046 1777 191.3 10.2 280 5566 0.00 2.08 0.00 0.000 1030 0.000 0.027 3301 1984 1911 2046 1777 0 0 0 0 0 0 28.83 26.51 28.83

5756 1.47 111.4 3300 1985 2045 1776 169.6 10.2 290 5762 0.00 2.08 0.00 0.000 516 0.000 0.036 3312 609 1910 2044 1776 0 0 0 0 0 0 28.83 26.40 28.83

5996 1.47 111.4 3311 609 2043 1776 148.4 9.0 301 6002 0.00 2.05 0.00 0.000 1030 0.000 0.029 3312 1996 1910 2043 1777 0 0 0 0 0 0 28.83 26.46 28.83

6192 1.47 111.4 3311 1996 2043 1777 129.1 8.8 311 6198 0.00 2.10 0.00 0.000 516 0.000 0.036 3323 611 1910 2043 1777 0 0 0 0 0 0 28.83 26.40 28.83

6248 1.47 111.4 3323 611 2043 1777 124.8 9.0 313 6255 0.15 2.00 0.00 0.000 5126 0.173 0.028 3285 1972 1910 2043 1777 0 0 0 0 0 0 26.03 26.46 28.83

6446 1.47 111.4 3284 1971 2043 1776 105.6 9.6 323 6452 0.00 2.08 0.00 0.000 516 0.000 0.037 3295 606 1909 2043 1776 0 0 0 0 0 0 28.83 26.40 28.83

6691 1.51 123.7 3295 606 2041 1777 89.8 6.9 334 6711 0.00 1.98 14.38 0.431 9222 0.000 0.028 3295 1945 1873 2008 1739 0 0 0 0 0 0 28.83 26.48 25.63

6910 1.56 137.5 3297 1945 1984 1728 76.0 6.7 345 6933 0.00 2.25 14.45 0.416 8452 0.000 0.044 3295 3396 1810 1935 1686 0 0 0 0 0 0 28.83 26.32 25.65

7167 1.67 168.5 3295 3396 1917 1681 58.4 4.7 357 7215 0.12 2.15 37.42 0.406 11270 0.082 0.027 3374 1928 1684 1791 1578 0 0 0 0 0 0 26.36 26.43 25.54

7404 1.81 208.3 3374 1928 1763 1569 44.7 3.7 374 7463 0.00 2.35 46.30 0.400 8964 0.000 0.043 3374 3384 1517 1619 1415 0 0 0 0 0 0 28.83 25.98 25.41

7612 1.86 223.8 3374 3384 1605 1406 30.3 6.5 392 7632 0.00 2.12 14.00 0.373 9222 0.000 0.026 3386 1945 1462 1568 1357 0 0 0 0 0 0 28.83 26.21 25.44

7820 1.86 223.8 2384 1943 1514 1338 8.5 11.4 426 7829 0.00 2.03 0.00 0.000 516 0.000 0.037 3396 615 1445 1547 1344 0 0 0 0 0 0 28.83 26.19 28.83

7874 end climb: SURFACE_DEPTH_REACHED

state 7874 begin surface coast

7903 end surface coast: CONTROL_FINISHED_OK

state 7903 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	334	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DEPTH	400
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	50
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	62	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	37	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	-20940.732	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	25

GPS1	100413,231435,2319.426,12132.545,34,1.1,34,-3.1	TGT_NAME	ININSHORE1A
_CALLS	1	TGT_LATLONG	2318.000,12132.750
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100413,232119,2319.638,12132.600,12,1.1,12,-3.1	MHEAD_RNG_PITCHd_Wd	182.0,3045,-27.0,-8.333,-30.00,882
SPEED_LIMITS	0.144,0.302	D_GRID	870

FINISH	0.3,1.001592	_24V_AH	24.7,50.089
SM_CCo	7925,84.72,0.061,0,0,747,400.08	_10V_AH	10.3,31.654
SM_GC	0.95,8.40,2.95,84.72,0.032,0.037,0.061,140,2481,747,-8.26,-1.41,400.08,0,0,0,0,0,0,26.27,26.15,26.06	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2309.79,12131.22,100413,212112	FG_AHR_10Vo	0.000
TT8_MAMPS	0.047936,0.047936	MEM	323144
HUMID	46.45	DATA_FILE_SIZE	16788,440
INTERNAL_PRESSURE	9.63274	CAP_FILE_SIZE	259074,0
TCM_TEMP	22.70	CFSIZE	260034560,221175808
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	450.4,5.9	CURRENT	0.139, 12.4,1
SC_FREEKB	3913856	GPS	110413,013635,2319.702,12132.646,31,1.5,31,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	219	110.63	nil	0	0	0.00
Roll_motor	75	51	95.55	nil	0	0	0.00
VBD_pump_during_apogee	340	650	5465.22	nil	0	0	0.00
VBD_pump_during_surface	84	61	128.07	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	7902	5	1056.31
Iridium_during_xfer	244	119	720.93	nil	0	0	0.00
Transponder_ping	1	420	10.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	27	3.94
TT8	2156	35	798.03
LPSleep	3756	2	84.74
TT8_Active	520	35	192.79
TT8_Sampling	1586	58	954.35
TT8_CF8	402	65	273.18
TT8_Kalman	0	0	0.00
Analog_circuits	1485	15	229.54
GPS_charging	0	0	0.00
Compass	1300	5	80.27
RAFOS	0	0	0.00
Transponder	9	30	3.01

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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.25	-48.0	116	2497	838	664	0.0	0.0	0	81	0.00	0.00	-60.00	0.000	16386	0.000	0.000	114	2497	2455	2520	2391	0	0	0	0	0	0	28.83	28.83	28.83
84	-1.30	-63.2	115	2497	2524	2391	3.8	-6.6	8	103	8.98	2.15	-3.28	0.000	18948	0.220	0.041	2386	1093	2643	2725	2561	0	0	0	0	0	0	25.54	26.19	26.49
213	-1.30	-63.2	2386	1093	2734	2561	47.2	-26.5	23	219	0.00	2.15	0.00	0.000	1030	0.000	0.035	2376	2500	2647	2734	2561	0	0	0	0	0	0	28.83	26.15	28.83
410	-1.30	-63.2	2376	2500	2737	2561	85.7	-19.2	33	416	0.00	1.83	0.00	0.000	260	0.000	0.051	2368	3671	2649	2737	2561	0	0	0	0	0	0	28.83	26.19	28.83
461	-1.30	-63.2	2367	3671	2738	2561	94.4	-18.5	35	467	0.00	1.70	0.00	0.000	1030	0.000	0.024	2368	2488	2649	2738	2561	0	0	0	0	0	0	28.83	26.42	28.83
663	-1.30	-63.2	2367	2488	2744	2561	137.4	-21.9	45	669	0.00	1.85	0.00	0.000	260	0.000	0.050	2359	3671	2651	2742	2561	0	0	0	0	0	0	28.83	26.26	28.83
908	-1.30	-63.2	2359	3671	2746	2561	194.8	-24.3	56	914	0.12	1.62	0.00	0.000	3078	0.168	0.024	2389	2522	2653	2746	2561	0	0	0	0	0	0	26.13	26.53	28.83
1105	-1.30	-63.2	2389	2521	2747	2561	234.0	-18.3	66	1111	0.00	2.08	0.00	0.000	516	0.000	0.028	2389	1108	2654	2747	2561	0	0	0	0	0	0	28.83	26.46	28.83
1151	-1.30	-63.2	1408	1107	2690	2551	242.3	-18.3	68	1157	0.00	2.17	0.00	0.000	1030	0.000	0.036	2379	2529	2654	2747	2561	0	0	0	0	0	0	28.83	26.36	28.83
1358	-1.30	-63.2	2379	2531	2746	2561	281.5	-18.2	78	1364	0.00	2.08	0.00	0.000	516	0.000	0.028	2379	1115	2654	2747	2561	0	0	0	0	0	0	28.83	26.48	28.83
1398	-1.30	-63.2	2379	1115	2746	2561	286.3	-17.7	79	1406	0.00	2.15	0.00	0.000	1030	0.000	0.036	2369	2530	2654	2747	2561	0	0	0	0	0	0	28.83	26.38	28.83
1704	-1.30	-63.2	2369	2530	2747	2561	350.1	-21.1	95	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2369	2530	2654	2747	2561	0	0	0	0	0	0	28.83	28.83	28.83
2003	-1.30	-63.2	2369	2530	2747	2561	407.2	-18.1	110	2009	0.00	1.77	0.00	0.000	260	0.000	0.050	2360	3675	2654	2747	2561	0	0	0	0	0	0	28.83	26.34	28.83
2163	-1.30	-63.2	2360	3675	2746	2561	432.0	-15.8	117	2170	0.12	1.62	0.00	0.000	3078	0.166	0.024	2391	2533	2654	2747	2561	0	0	0	0	0	0	26.20	26.60	28.83
2299	end dive: BOTTOM_OBSTACLE_DETECTED
state	2299	begin apogee
2306	-0.20	0.0	2391	1984	2747	2561	450.4	-11.6	124	2423	1.08	0.00	106.65	0.567	10244	0.127	0.000	2738	1984	2374	2512	2236	0	0	0	0	0	0	25.91	28.83	24.94
2425	end apogee: CONTROL_FINISHED_OK
state	2425	begin climb
2427	1.30	63.2	2737	1984	2510	2232	457.5	0.0	129	2504	1.42	2.33	65.72	0.650	10500	0.069	0.049	3233	3413	2111	2274	1948	0	0	0	0	0	0	25.63	25.65	24.70
2686	1.38	85.3	3233	3413	2252	1928	451.0	5.8	140	2711	0.00	2.10	19.52	0.604	9222	0.000	0.025	3244	2006	2032	2186	1879	0	0	0	0	0	0	28.83	26.09	25.13
3020	1.43	98.9	3244	2006	2149	1859	431.3	6.7	157	3037	0.00	2.10	11.45	0.600	8708	0.000	0.033	3255	615	1971	2117	1826	0	0	0	0	0	0	28.83	26.17	25.38
3256	1.43	98.9	3255	615	2097	1822	409.9	9.4	168	3262	0.00	2.10	0.00	0.000	1030	0.000	0.029	3256	2021	1959	2097	1822	0	0	0	0	0	0	28.83	26.28	28.83
3579	1.43	98.9	3255	2021	2095	1819	377.9	10.7	184	3585	0.00	2.15	0.00	0.000	260	0.000	0.045	3256	3409	1957	2095	1819	0	0	0	0	0	0	28.83	26.29	28.83
3818	1.43	98.9	3255	3409	2091	1819	350.7	13.2	195	3824	0.00	2.05	0.00	0.000	1030	0.000	0.027	3267	2006	1954	2090	1819	0	0	0	0	0	0	28.83	26.47	28.83
4133	1.43	98.9	3266	2006	2090	1817	314.5	8.9	211	4134	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	2006	1953	2090	1817	0	0	0	0	0	0	28.83	28.83	28.83
4434	1.45	106.5	3267	2006	2088	1815	292.5	7.4	226	4435	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	2006	1951	2088	1815	0	0	0	0	0	0	28.83	28.83	28.83
4733	1.45	106.5	3266	2006	2087	1814	264.8	9.6	241	4739	0.00	2.10	0.00	0.000	516	0.000	0.036	3278	608	1951	2087	1815	0	0	0	0	0	0	28.83	26.41	28.83
4974	1.47	111.4	3278	605	2086	1814	245.4	7.8	252	4993	0.00	2.08	10.38	0.517	9222	0.000	0.029	3277	2004	1921	2060	1783	0	0	0	0	0	0	28.83	26.48	25.53
5193	1.47	111.4	3277	2003	2047	1777	226.8	9.0	263	5199	0.00	2.12	0.00	0.000	516	0.000	0.035	3289	608	1912	2047	1777	0	0	0	0	0	0	28.83	26.37	28.83
5318	1.47	111.4	3288	609	2046	1777	216.2	9.5	268	5326	0.00	2.05	0.00	0.000	1030	0.000	0.028	3289	1992	1911	2046	1776	0	0	0	0	0	0	28.83	26.44	28.83
5503	1.47	111.4	3289	1992	2046	1776	196.1	9.5	278	5509	0.00	2.17	0.00	0.000	260	0.000	0.044	3289	3400	1911	2046	1776	0	0	0	0	0	0	28.83	26.34	28.83
5559	1.47	111.4	3288	3400	2046	1777	191.3	10.2	280	5566	0.00	2.08	0.00	0.000	1030	0.000	0.027	3301	1984	1911	2046	1777	0	0	0	0	0	0	28.83	26.51	28.83
5756	1.47	111.4	3300	1985	2045	1776	169.6	10.2	290	5762	0.00	2.08	0.00	0.000	516	0.000	0.036	3312	609	1910	2044	1776	0	0	0	0	0	0	28.83	26.40	28.83
5996	1.47	111.4	3311	609	2043	1776	148.4	9.0	301	6002	0.00	2.05	0.00	0.000	1030	0.000	0.029	3312	1996	1910	2043	1777	0	0	0	0	0	0	28.83	26.46	28.83
6192	1.47	111.4	3311	1996	2043	1777	129.1	8.8	311	6198	0.00	2.10	0.00	0.000	516	0.000	0.036	3323	611	1910	2043	1777	0	0	0	0	0	0	28.83	26.40	28.83
6248	1.47	111.4	3323	611	2043	1777	124.8	9.0	313	6255	0.15	2.00	0.00	0.000	5126	0.173	0.028	3285	1972	1910	2043	1777	0	0	0	0	0	0	26.03	26.46	28.83
6446	1.47	111.4	3284	1971	2043	1776	105.6	9.6	323	6452	0.00	2.08	0.00	0.000	516	0.000	0.037	3295	606	1909	2043	1776	0	0	0	0	0	0	28.83	26.40	28.83
6691	1.51	123.7	3295	606	2041	1777	89.8	6.9	334	6711	0.00	1.98	14.38	0.431	9222	0.000	0.028	3295	1945	1873	2008	1739	0	0	0	0	0	0	28.83	26.48	25.63
6910	1.56	137.5	3297	1945	1984	1728	76.0	6.7	345	6933	0.00	2.25	14.45	0.416	8452	0.000	0.044	3295	3396	1810	1935	1686	0	0	0	0	0	0	28.83	26.32	25.65
7167	1.67	168.5	3295	3396	1917	1681	58.4	4.7	357	7215	0.12	2.15	37.42	0.406	11270	0.082	0.027	3374	1928	1684	1791	1578	0	0	0	0	0	0	26.36	26.43	25.54
7404	1.81	208.3	3374	1928	1763	1569	44.7	3.7	374	7463	0.00	2.35	46.30	0.400	8964	0.000	0.043	3374	3384	1517	1619	1415	0	0	0	0	0	0	28.83	25.98	25.41
7612	1.86	223.8	3374	3384	1605	1406	30.3	6.5	392	7632	0.00	2.12	14.00	0.373	9222	0.000	0.026	3386	1945	1462	1568	1357	0	0	0	0	0	0	28.83	26.21	25.44
7820	1.86	223.8	2384	1943	1514	1338	8.5	11.4	426	7829	0.00	2.03	0.00	0.000	516	0.000	0.037	3396	615	1445	1547	1344	0	0	0	0	0	0	28.83	26.19	28.83
7874	end climb: SURFACE_DEPTH_REACHED
state	7874	begin surface coast
7903	end surface coast: CONTROL_FINISHED_OK
state	7903	begin surface