Glider dive log

OKMC 16May13 * SG181 * Dive index * Mission links * Dive 34 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 181 HD_C 1.5e-05 ROLL_MAX 3785 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 11 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 34 ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 77 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 450 R_STBD_OVSHOOT 40 XPDR_VALID 2

D_BOOST 150 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 440 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2753 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -8 T_GPS_CHARGE -95714.844 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE 149

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 250 MINV_24V 12 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3941 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2700 FG_AHR_10V 0 SEABIRD_T_G 0.004364301

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062910328

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.4425184e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -160.75446 SEABIRD_T_J 2.6404416e-06

MASS 52184 PITCH_GAIN 20 PRESSURE_SLOPE 0.000109412 SEABIRD_C_G -9.9046793

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 1 SEABIRD_C_H 1.1251128

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0019873739

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00023203803

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0033 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0082 ROLL_MIN 209 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY 2 SEABIRD_T_J 2.6404416e-06

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3941 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 250 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.0033 PRESSURE_SLOPE 0.000109412 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0082 PRESSURE_YINT -160.75446 T_BOOST 5

CALL_WAIT 60 HD_C 1.5e-05 PROTOCOL 9 T_DIVE 330

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -95714.844

COMPASS2_DEVICE 149 ID 181 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 360

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_RSLEEP 3

C_PITCH 2700 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 2375 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 2400 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2753 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3785 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52184 ROLL_MAXERRORS 2 USE_BATHY -8

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 209 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 R_PORT_OVSHOOT 77 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 40 VBD_DBAND 2

DEVICE4 -1 MISSION 11 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 440

DIVE 34 NOCOMM_ACTION 163 SEABIRD_C_G -9.9046793 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_H 1.1251128 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 150 N_FILEKB 8 SEABIRD_C_I -0.0019873739 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00023203803 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.004364301 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062910328 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_I 2.4425184e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 200513,175236,2147.533,12039.554,36,1.0,36,-2.7 TGT_NAME DOGLEG2

_CALLS 1 TGT_LATLONG 2145.000,12042.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200513,175924,2147.557,12039.642,10,1.2,16,-2.7 MHEAD_RNG_PITCHd_Wd 142.3,6235,-14.3,-10.000,-17.31,2952

SPEED_LIMITS 0.173,0.321 D_GRID 642

Post-dive calculations and measurements:

FINISH -0.7,1.021727 _10V_AH 13.7,0.000

SM_CCo 7537,98.35,0.145,0,0,917,450.13 FG_AHR_24Vo 0.000

SM_GC -0.03,7.60,0.00,98.35,0.059,0.000,0.145,229,2360,917,-7.63,-1.10,450.13,0,0,0,0,0,0,14.95,28.83,14.77 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2148.09,12038.30,200513,151512 MEM 323012

TT8_MAMPS 0.019474,0.019474 DATA_FILE_SIZE 16817,435

HUMID 43.69 CAP_FILE_SIZE 100879,0

INTERNAL_PRESSURE 9.71717 CFSIZE 260034560,253034496

TCM_TEMP 24.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 22 CURRENT 0.189,310.8,1

SC_FREEKB 3925056 GPS 200513,200830,2147.196,12039.784,39,1.4,39,-2.7

_24V_AH 13.7,31.760

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 414 115.17 nil 0 0 0.00

Roll_motor 75 91 93.85 nil 0 0 0.00

VBD_pump_during_apogee 367 1383 6966.98 nil 0 0 0.00

VBD_pump_during_surface 98 145 195.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 112 45.16 nil 0 0 0.00

Iridium_during_connect 39 160 85.63 SciCon 7553 6 680.04

Iridium_during_xfer 176 223 538.68 nil 0 0 0.00

Transponder_ping 5 420 31.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 20 5.46

TT8 1387 10 208.37

LPSleep 4633 2 139.03

TT8_Active 562 10 84.40

TT8_Sampling 1392 28 552.05

TT8_CF8 84 35 41.40

TT8_Kalman 0 0 0.00

Analog_circuits 1167 16 256.03

GPS_charging 0 0 0.00

Compass 1034 6 95.49

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

18 -0.91 -194.6 213 2417 921 915 0.0 0.0 0 110 0.00 0.00 -89.65 0.000 16386 0.000 0.000 213 2418 3192 3238 3147 0 0 0 0 0 0 28.83 28.83 28.83

112 -0.91 -194.6 213 2418 3239 3147 4.0 -13.5 15 138 10.20 2.25 -5.88 0.000 18692 0.415 0.091 2389 3775 3549 3628 3470 0 0 0 0 0 0 14.50 14.71 14.95

346 -0.91 -194.6 2389 3776 3629 3473 93.6 -31.6 35 351 0.00 2.08 0.00 0.000 1030 0.000 0.036 2389 2410 3552 3630 3474 0 0 0 0 0 0 28.83 14.83 28.83

668 -0.91 -194.6 2388 2404 3634 3469 169.9 -23.8 51 673 0.00 2.17 0.00 0.000 516 0.000 0.044 2389 999 3552 3634 3470 0 0 0 0 0 0 28.83 14.90 28.83

764 -0.91 -194.6 2389 998 3634 3474 189.0 -23.3 55 771 0.00 2.25 0.00 0.000 1030 0.000 0.060 2379 2396 3554 3634 3474 0 0 0 0 0 0 28.83 14.89 28.83

1070 -0.91 -194.6 2379 2397 3634 3473 259.4 -21.1 71 1075 0.00 2.17 0.00 0.000 516 0.000 0.047 2379 1003 3553 3634 3473 0 0 0 0 0 0 28.83 14.94 28.83

1133 -0.91 -194.6 2379 1001 3634 3473 271.8 -20.3 74 1139 0.15 2.25 0.00 0.000 3078 0.268 0.060 2404 2402 3553 3634 3473 0 0 0 0 0 0 14.79 14.90 28.83

1456 -0.91 -194.6 2404 2403 3634 3473 332.1 -19.1 90 1462 0.00 2.22 0.00 0.000 260 0.000 0.082 2396 3780 3553 3634 3472 0 0 0 0 0 0 28.83 14.92 28.83

1583 -0.91 -194.6 1536 3779 3630 3468 357.3 -20.5 96 1588 0.00 2.08 0.00 0.000 1030 0.000 0.036 2396 2389 3552 3634 3471 0 0 0 0 0 0 28.83 15.00 28.83

1900 -0.91 -194.6 2396 2384 3634 3469 413.6 -16.4 112 1905 0.00 2.28 0.00 0.000 260 0.000 0.085 2386 3779 3551 3634 3469 0 0 0 0 0 0 28.83 14.94 28.83

1946 -0.91 -194.6 2386 3778 3634 3468 420.8 -16.9 114 1952 0.00 2.08 0.00 0.000 1030 0.000 0.037 2386 2402 3551 3634 3468 0 0 0 0 0 0 28.83 14.99 28.83

2264 -0.91 -194.6 2386 2397 3634 3464 476.3 -16.2 130 2269 0.00 2.15 0.00 0.000 516 0.000 0.049 2385 1010 3548 3634 3463 0 0 0 0 0 0 28.83 14.99 28.83

2310 -0.91 -194.6 2386 1010 3634 3464 483.0 -16.2 132 2316 0.12 2.22 0.00 0.000 3078 0.272 0.059 2401 2401 3549 3634 3464 0 0 0 0 0 0 14.85 14.97 28.83

2628 -0.91 -194.6 2404 2401 3634 3460 529.0 -14.1 148 2629 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2401 3547 3634 3460 0 0 0 0 0 0 28.83 28.83 28.83

2928 -0.91 -194.6 2404 2401 3634 3455 572.9 -15.0 163 2934 0.00 2.28 0.00 0.000 260 0.000 0.089 2396 3783 3544 3634 3455 0 0 0 0 0 0 28.83 14.95 28.83

2951 -0.91 -194.6 2396 3783 3634 3455 576.5 -15.1 164 2957 0.00 2.10 0.00 0.000 1030 0.000 0.041 2396 2400 3544 3634 3455 0 0 0 0 0 0 28.83 15.03 28.83

3264 -0.91 -194.6 2396 2398 3633 3452 623.2 -14.0 177 3270 0.00 2.28 0.00 0.000 260 0.000 0.090 2389 3778 3542 3633 3451 0 0 0 0 0 0 28.83 14.95 28.83

3281 -0.91 -194.6 2386 3780 3633 3452 623.2 -14.0 177 3287 0.00 2.12 0.00 0.000 1030 0.000 0.042 2386 2396 3542 3633 3452 0 0 0 0 0 0 28.83 15.02 28.83

3417 end dive: TARGET_DEPTH_EXCEEDED

state 3417 begin apogee

3421 -0.25 0.0 2386 2392 3632 3450 645.2 -14.1 182 3604 0.77 0.00 175.07 1.383 10246 0.224 0.000 2613 2391 2750 2781 2719 0 0 0 0 0 0 14.84 28.83 13.74

3606 end apogee: CONTROL_FINISHED_OK

state 3606 begin climb

3607 0.91 194.6 2613 2390 2779 2717 649.9 0.0 188 3792 1.15 0.00 178.27 1.356 10758 0.127 0.000 2986 2391 1958 1989 1927 0 0 0 0 0 0 14.27 28.83 13.70

4089 0.91 194.6 2986 2390 1986 1897 561.9 21.3 207 4095 0.00 2.35 0.00 0.000 260 0.000 0.087 2986 3781 1941 1986 1897 0 0 0 0 0 0 28.83 14.68 28.83

4116 0.91 194.6 2986 3782 1986 1898 556.7 21.8 208 4121 0.00 2.20 0.00 0.000 1030 0.000 0.040 2996 2372 1941 1986 1897 0 0 0 0 0 0 28.83 14.76 28.83

4433 0.91 194.6 2996 2363 1986 1894 486.7 21.6 224 4438 0.00 2.38 0.00 0.000 260 0.000 0.089 2997 3775 1940 1986 1894 0 0 0 0 0 0 28.83 14.81 28.83

4469 0.91 194.6 2997 3775 1986 1894 481.7 21.6 225 4476 0.00 2.17 0.00 0.000 1030 0.000 0.041 3007 2366 1939 1986 1893 0 0 0 0 0 0 28.83 14.87 28.83

4775 0.91 194.6 3007 2361 1986 1890 412.0 22.8 241 4780 0.00 2.20 0.00 0.000 516 0.000 0.051 3017 976 1937 1985 1890 0 0 0 0 0 0 28.83 14.90 28.83

4877 0.91 194.6 3017 976 1985 1889 392.7 18.1 246 4883 0.00 2.28 0.00 0.000 1030 0.000 0.059 3017 2380 1937 1985 1889 0 0 0 0 0 0 28.83 14.89 28.83

5200 0.91 194.6 3018 2379 1984 1887 324.5 21.4 262 5205 0.00 2.30 0.00 0.000 260 0.000 0.088 3017 3772 1936 1985 1887 0 0 0 0 0 0 28.83 14.89 28.83

5256 0.91 194.6 3017 3772 1985 1887 314.7 22.1 264 5265 0.15 2.15 0.00 0.000 5126 0.311 0.040 2996 2363 1936 1985 1887 0 0 0 0 0 0 14.74 14.95 28.83

5562 0.91 194.6 2997 2355 1985 1884 256.3 17.6 280 5568 0.00 2.38 0.00 0.000 260 0.000 0.088 2996 3780 1934 1985 1884 0 0 0 0 0 0 28.83 14.90 28.83

5579 0.91 194.6 2996 3779 1985 1885 256.3 17.6 280 5586 0.00 2.15 0.00 0.000 1030 0.000 0.039 3005 2374 1934 1985 1884 0 0 0 0 0 0 28.83 14.97 28.83

5885 0.91 194.6 3005 2370 1984 1883 194.2 19.2 296 5890 0.00 2.17 0.00 0.000 516 0.000 0.050 3015 986 1934 1984 1884 0 0 0 0 0 0 28.83 14.96 28.83

5922 0.91 194.6 3014 986 1984 1883 190.0 19.1 297 5928 0.00 2.22 0.00 0.000 1030 0.000 0.057 3015 2374 1933 1984 1883 0 0 0 0 0 0 28.83 14.91 28.83

6227 0.91 194.6 3015 2375 1984 1883 135.6 15.7 313 6232 0.00 2.20 0.00 0.000 516 0.000 0.052 3024 987 1933 1984 1883 0 0 0 0 0 0 28.83 14.95 28.83

6429 0.91 194.6 3025 987 1984 1882 109.4 12.9 323 6435 0.12 2.22 0.00 0.000 5126 0.278 0.057 2997 2379 1933 1984 1882 0 0 0 0 0 0 14.80 14.93 28.83

6753 0.91 194.6 2997 2378 1983 1882 69.3 11.0 339 6758 0.00 2.30 0.00 0.000 260 0.000 0.086 2997 3775 1933 1984 1882 0 0 0 0 0 0 28.83 14.90 28.83

6839 0.92 202.6 2064 3775 1947 1873 61.2 9.7 343 6844 0.00 2.15 0.00 0.000 1030 0.000 0.038 3005 2363 1931 1984 1878 0 0 0 0 0 0 28.83 14.96 28.83

7147 0.94 230.5 3005 2360 1984 1889 30.9 9.0 368 7169 0.00 2.33 14.32 0.231 8452 0.000 0.081 3006 3772 1811 1854 1768 0 0 0 0 0 0 28.83 14.89 14.76

7246 0.94 230.5 3005 3772 1858 1779 20.7 11.3 381 7254 0.00 2.12 0.00 0.000 1030 0.000 0.037 3016 2364 1818 1858 1779 0 0 0 0 0 0 28.83 14.96 28.83

7476 end climb: SURFACE_DEPTH_REACHED

state 7476 begin surface coast

7522 end surface coast: CONTROL_FINISHED_OK

state 7523 begin surface

ID	181	HD_C	1.5e-05	ROLL_MAX	3785	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	11	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	34	ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	77	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	450	R_STBD_OVSHOOT	40	XPDR_VALID	2
D_BOOST	150	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	440	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2753	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-8	T_GPS_CHARGE	-95714.844	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	149
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	250	MINV_24V	12	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3941	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2700	FG_AHR_10V	0	SEABIRD_T_G	0.004364301
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062910328
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.4425184e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-160.75446	SEABIRD_T_J	2.6404416e-06
MASS	52184	PITCH_GAIN	20	PRESSURE_SLOPE	0.000109412	SEABIRD_C_G	-9.9046793
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	1	SEABIRD_C_H	1.1251128
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0019873739
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00023203803
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0033	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0082	ROLL_MIN	209	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	200513,175236,2147.533,12039.554,36,1.0,36,-2.7	TGT_NAME	DOGLEG2
_CALLS	1	TGT_LATLONG	2145.000,12042.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200513,175924,2147.557,12039.642,10,1.2,16,-2.7	MHEAD_RNG_PITCHd_Wd	142.3,6235,-14.3,-10.000,-17.31,2952
SPEED_LIMITS	0.173,0.321	D_GRID	642

FINISH	-0.7,1.021727	_10V_AH	13.7,0.000
SM_CCo	7537,98.35,0.145,0,0,917,450.13	FG_AHR_24Vo	0.000
SM_GC	-0.03,7.60,0.00,98.35,0.059,0.000,0.145,229,2360,917,-7.63,-1.10,450.13,0,0,0,0,0,0,14.95,28.83,14.77	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2148.09,12038.30,200513,151512	MEM	323012
TT8_MAMPS	0.019474,0.019474	DATA_FILE_SIZE	16817,435
HUMID	43.69	CAP_FILE_SIZE	100879,0
INTERNAL_PRESSURE	9.71717	CFSIZE	260034560,253034496
TCM_TEMP	24.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	22	CURRENT	0.189,310.8,1
SC_FREEKB	3925056	GPS	200513,200830,2147.196,12039.784,39,1.4,39,-2.7
_24V_AH	13.7,31.760

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	414	115.17	nil	0	0	0.00
Roll_motor	75	91	93.85	nil	0	0	0.00
VBD_pump_during_apogee	367	1383	6966.98	nil	0	0	0.00
VBD_pump_during_surface	98	145	195.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	112	45.16	nil	0	0	0.00
Iridium_during_connect	39	160	85.63	SciCon	7553	6	680.04
Iridium_during_xfer	176	223	538.68	nil	0	0	0.00
Transponder_ping	5	420	31.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	20	5.46
TT8	1387	10	208.37
LPSleep	4633	2	139.03
TT8_Active	562	10	84.40
TT8_Sampling	1392	28	552.05
TT8_CF8	84	35	41.40
TT8_Kalman	0	0	0.00
Analog_circuits	1167	16	256.03
GPS_charging	0	0	0.00
Compass	1034	6	95.49
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
18	-0.91	-194.6	213	2417	921	915	0.0	0.0	0	110	0.00	0.00	-89.65	0.000	16386	0.000	0.000	213	2418	3192	3238	3147	0	0	0	0	0	0	28.83	28.83	28.83
112	-0.91	-194.6	213	2418	3239	3147	4.0	-13.5	15	138	10.20	2.25	-5.88	0.000	18692	0.415	0.091	2389	3775	3549	3628	3470	0	0	0	0	0	0	14.50	14.71	14.95
346	-0.91	-194.6	2389	3776	3629	3473	93.6	-31.6	35	351	0.00	2.08	0.00	0.000	1030	0.000	0.036	2389	2410	3552	3630	3474	0	0	0	0	0	0	28.83	14.83	28.83
668	-0.91	-194.6	2388	2404	3634	3469	169.9	-23.8	51	673	0.00	2.17	0.00	0.000	516	0.000	0.044	2389	999	3552	3634	3470	0	0	0	0	0	0	28.83	14.90	28.83
764	-0.91	-194.6	2389	998	3634	3474	189.0	-23.3	55	771	0.00	2.25	0.00	0.000	1030	0.000	0.060	2379	2396	3554	3634	3474	0	0	0	0	0	0	28.83	14.89	28.83
1070	-0.91	-194.6	2379	2397	3634	3473	259.4	-21.1	71	1075	0.00	2.17	0.00	0.000	516	0.000	0.047	2379	1003	3553	3634	3473	0	0	0	0	0	0	28.83	14.94	28.83
1133	-0.91	-194.6	2379	1001	3634	3473	271.8	-20.3	74	1139	0.15	2.25	0.00	0.000	3078	0.268	0.060	2404	2402	3553	3634	3473	0	0	0	0	0	0	14.79	14.90	28.83
1456	-0.91	-194.6	2404	2403	3634	3473	332.1	-19.1	90	1462	0.00	2.22	0.00	0.000	260	0.000	0.082	2396	3780	3553	3634	3472	0	0	0	0	0	0	28.83	14.92	28.83
1583	-0.91	-194.6	1536	3779	3630	3468	357.3	-20.5	96	1588	0.00	2.08	0.00	0.000	1030	0.000	0.036	2396	2389	3552	3634	3471	0	0	0	0	0	0	28.83	15.00	28.83
1900	-0.91	-194.6	2396	2384	3634	3469	413.6	-16.4	112	1905	0.00	2.28	0.00	0.000	260	0.000	0.085	2386	3779	3551	3634	3469	0	0	0	0	0	0	28.83	14.94	28.83
1946	-0.91	-194.6	2386	3778	3634	3468	420.8	-16.9	114	1952	0.00	2.08	0.00	0.000	1030	0.000	0.037	2386	2402	3551	3634	3468	0	0	0	0	0	0	28.83	14.99	28.83
2264	-0.91	-194.6	2386	2397	3634	3464	476.3	-16.2	130	2269	0.00	2.15	0.00	0.000	516	0.000	0.049	2385	1010	3548	3634	3463	0	0	0	0	0	0	28.83	14.99	28.83
2310	-0.91	-194.6	2386	1010	3634	3464	483.0	-16.2	132	2316	0.12	2.22	0.00	0.000	3078	0.272	0.059	2401	2401	3549	3634	3464	0	0	0	0	0	0	14.85	14.97	28.83
2628	-0.91	-194.6	2404	2401	3634	3460	529.0	-14.1	148	2629	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2401	3547	3634	3460	0	0	0	0	0	0	28.83	28.83	28.83
2928	-0.91	-194.6	2404	2401	3634	3455	572.9	-15.0	163	2934	0.00	2.28	0.00	0.000	260	0.000	0.089	2396	3783	3544	3634	3455	0	0	0	0	0	0	28.83	14.95	28.83
2951	-0.91	-194.6	2396	3783	3634	3455	576.5	-15.1	164	2957	0.00	2.10	0.00	0.000	1030	0.000	0.041	2396	2400	3544	3634	3455	0	0	0	0	0	0	28.83	15.03	28.83
3264	-0.91	-194.6	2396	2398	3633	3452	623.2	-14.0	177	3270	0.00	2.28	0.00	0.000	260	0.000	0.090	2389	3778	3542	3633	3451	0	0	0	0	0	0	28.83	14.95	28.83
3281	-0.91	-194.6	2386	3780	3633	3452	623.2	-14.0	177	3287	0.00	2.12	0.00	0.000	1030	0.000	0.042	2386	2396	3542	3633	3452	0	0	0	0	0	0	28.83	15.02	28.83
3417	end dive: TARGET_DEPTH_EXCEEDED
state	3417	begin apogee
3421	-0.25	0.0	2386	2392	3632	3450	645.2	-14.1	182	3604	0.77	0.00	175.07	1.383	10246	0.224	0.000	2613	2391	2750	2781	2719	0	0	0	0	0	0	14.84	28.83	13.74
3606	end apogee: CONTROL_FINISHED_OK
state	3606	begin climb
3607	0.91	194.6	2613	2390	2779	2717	649.9	0.0	188	3792	1.15	0.00	178.27	1.356	10758	0.127	0.000	2986	2391	1958	1989	1927	0	0	0	0	0	0	14.27	28.83	13.70
4089	0.91	194.6	2986	2390	1986	1897	561.9	21.3	207	4095	0.00	2.35	0.00	0.000	260	0.000	0.087	2986	3781	1941	1986	1897	0	0	0	0	0	0	28.83	14.68	28.83
4116	0.91	194.6	2986	3782	1986	1898	556.7	21.8	208	4121	0.00	2.20	0.00	0.000	1030	0.000	0.040	2996	2372	1941	1986	1897	0	0	0	0	0	0	28.83	14.76	28.83
4433	0.91	194.6	2996	2363	1986	1894	486.7	21.6	224	4438	0.00	2.38	0.00	0.000	260	0.000	0.089	2997	3775	1940	1986	1894	0	0	0	0	0	0	28.83	14.81	28.83
4469	0.91	194.6	2997	3775	1986	1894	481.7	21.6	225	4476	0.00	2.17	0.00	0.000	1030	0.000	0.041	3007	2366	1939	1986	1893	0	0	0	0	0	0	28.83	14.87	28.83
4775	0.91	194.6	3007	2361	1986	1890	412.0	22.8	241	4780	0.00	2.20	0.00	0.000	516	0.000	0.051	3017	976	1937	1985	1890	0	0	0	0	0	0	28.83	14.90	28.83
4877	0.91	194.6	3017	976	1985	1889	392.7	18.1	246	4883	0.00	2.28	0.00	0.000	1030	0.000	0.059	3017	2380	1937	1985	1889	0	0	0	0	0	0	28.83	14.89	28.83
5200	0.91	194.6	3018	2379	1984	1887	324.5	21.4	262	5205	0.00	2.30	0.00	0.000	260	0.000	0.088	3017	3772	1936	1985	1887	0	0	0	0	0	0	28.83	14.89	28.83
5256	0.91	194.6	3017	3772	1985	1887	314.7	22.1	264	5265	0.15	2.15	0.00	0.000	5126	0.311	0.040	2996	2363	1936	1985	1887	0	0	0	0	0	0	14.74	14.95	28.83
5562	0.91	194.6	2997	2355	1985	1884	256.3	17.6	280	5568	0.00	2.38	0.00	0.000	260	0.000	0.088	2996	3780	1934	1985	1884	0	0	0	0	0	0	28.83	14.90	28.83
5579	0.91	194.6	2996	3779	1985	1885	256.3	17.6	280	5586	0.00	2.15	0.00	0.000	1030	0.000	0.039	3005	2374	1934	1985	1884	0	0	0	0	0	0	28.83	14.97	28.83
5885	0.91	194.6	3005	2370	1984	1883	194.2	19.2	296	5890	0.00	2.17	0.00	0.000	516	0.000	0.050	3015	986	1934	1984	1884	0	0	0	0	0	0	28.83	14.96	28.83
5922	0.91	194.6	3014	986	1984	1883	190.0	19.1	297	5928	0.00	2.22	0.00	0.000	1030	0.000	0.057	3015	2374	1933	1984	1883	0	0	0	0	0	0	28.83	14.91	28.83
6227	0.91	194.6	3015	2375	1984	1883	135.6	15.7	313	6232	0.00	2.20	0.00	0.000	516	0.000	0.052	3024	987	1933	1984	1883	0	0	0	0	0	0	28.83	14.95	28.83
6429	0.91	194.6	3025	987	1984	1882	109.4	12.9	323	6435	0.12	2.22	0.00	0.000	5126	0.278	0.057	2997	2379	1933	1984	1882	0	0	0	0	0	0	14.80	14.93	28.83
6753	0.91	194.6	2997	2378	1983	1882	69.3	11.0	339	6758	0.00	2.30	0.00	0.000	260	0.000	0.086	2997	3775	1933	1984	1882	0	0	0	0	0	0	28.83	14.90	28.83
6839	0.92	202.6	2064	3775	1947	1873	61.2	9.7	343	6844	0.00	2.15	0.00	0.000	1030	0.000	0.038	3005	2363	1931	1984	1878	0	0	0	0	0	0	28.83	14.96	28.83
7147	0.94	230.5	3005	2360	1984	1889	30.9	9.0	368	7169	0.00	2.33	14.32	0.231	8452	0.000	0.081	3006	3772	1811	1854	1768	0	0	0	0	0	0	28.83	14.89	14.76
7246	0.94	230.5	3005	3772	1858	1779	20.7	11.3	381	7254	0.00	2.12	0.00	0.000	1030	0.000	0.037	3016	2364	1818	1858	1779	0	0	0	0	0	0	28.83	14.96	28.83
7476	end climb: SURFACE_DEPTH_REACHED
state	7476	begin surface coast
7522	end surface coast: CONTROL_FINISHED_OK
state	7523	begin surface