Glider dive log

OKMC Feb13 * SG171 * Dive index * Mission links * Dive 340 * 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 340 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 63 ALTIM_SENSITIVITY 2

D_ABORT 1010 SM_CC 400 R_STBD_OVSHOOT 23 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 -20949.756 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 -20949.756

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 63 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 23 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 340 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 110413,115414,2318.845,12132.445,10,1.8,30,-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 1.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110413,120105,2319.146,12132.566,45,1.8,45,-3.1 MHEAD_RNG_PITCHd_Wd 177.9,2144,-27.0,-8.333,-30.00,882

SPEED_LIMITS 0.144,0.302 D_GRID 870

Post-dive calculations and measurements:

FINISH 0.5,1.022434 _10V_AH 10.2,32.095

SM_CCo 9703,80.35,0.060,0,0,748,400.08 FG_AHR_24Vo 0.000

SM_GC 1.03,8.55,0.80,80.35,0.031,0.048,0.060,137,2492,748,-8.26,-1.36,400.08,0,0,0,0,0,0,26.24,26.13,25.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2312.13,12134.45,110413,090945 MEM 322856

TT8_MAMPS 0.047936,0.047936 DATA_FILE_SIZE 16795,502

HUMID 47.36 CAP_FILE_SIZE 289363,0

INTERNAL_PRESSURE 9.6425 CFSIZE 260034560,220659712

TCM_TEMP 23.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.219, 18.0,1

SC_FREEKB 3911936 GPS 110413,144605,2319.478,12133.045,39,0.9,40,-3.1

_24V_AH 24.4,50.753

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 218 114.11 nil 0 0 0.00

Roll_motor 85 54 113.48 nil 0 0 0.00

VBD_pump_during_apogee 358 761 6658.02 nil 0 0 0.00

VBD_pump_during_surface 80 60 118.49 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 9674 4 1091.47

Iridium_during_xfer 205 126 636.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 27 13.38

TT8 2411 35 883.80

LPSleep 5078 2 113.45

TT8_Active 538 35 197.45

TT8_Sampling 1736 58 1034.57

TT8_CF8 429 65 288.96

TT8_Kalman 0 0 0.00

Analog_circuits 1542 15 236.06

GPS_charging 0 0 0.00

Compass 1432 5 87.52

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -1.25 -48.0 126 2486 834 660 0.0 0.0 0 82 0.00 0.00 -61.08 0.000 16386 0.000 0.000 126 2486 2517 2586 2449 0 0 0 0 0 0 28.83 28.83 28.83

86 -1.25 -48.8 126 2486 2586 2449 4.5 -8.2 8 103 8.98 2.12 -1.08 0.000 18948 0.219 0.038 2399 1087 2585 2669 2501 0 0 0 0 0 0 25.54 26.20 26.39

224 -1.25 -48.8 2399 1087 2677 2501 50.0 -25.6 24 233 0.00 2.17 0.00 0.000 1030 0.000 0.036 2389 2509 2589 2677 2501 0 0 0 0 0 0 28.83 26.14 28.83

413 -1.25 -48.8 2389 2509 2679 2501 85.2 -10.7 34 418 0.00 1.83 0.00 0.000 260 0.000 0.051 2380 3673 2590 2679 2501 0 0 0 0 0 0 28.83 26.17 28.83

484 -1.25 -48.8 2379 3673 2681 2500 97.3 -16.6 37 490 0.00 1.70 0.00 0.000 1030 0.000 0.023 2380 2474 2591 2681 2501 0 0 0 0 0 0 28.83 26.42 28.83

686 -1.25 -48.8 2379 2473 2686 2501 134.6 -18.2 47 692 0.00 1.88 0.00 0.000 260 0.000 0.051 2371 3671 2593 2686 2501 0 0 0 0 0 0 28.83 26.24 28.83

704 -1.25 -48.8 2371 3671 2686 2501 134.6 -18.2 47 713 0.12 1.70 0.00 0.000 3078 0.164 0.024 2403 2470 2594 2687 2501 0 0 0 0 0 0 26.10 26.47 28.83

892 -1.25 -48.8 2402 2468 2690 2501 172.4 -19.6 57 898 0.00 1.90 0.00 0.000 260 0.000 0.052 2394 3675 2595 2690 2501 0 0 0 0 0 0 28.83 26.27 28.83

1008 -1.25 -48.8 2393 3675 2689 2501 193.4 -19.5 62 1014 0.00 1.67 0.00 0.000 1030 0.000 0.023 2394 2496 2595 2689 2501 0 0 0 0 0 0 28.83 26.53 28.83

1205 -1.25 -48.8 2393 2494 2690 2501 230.6 -17.3 72 1211 0.00 1.83 0.00 0.000 260 0.000 0.051 2385 3670 2595 2690 2501 0 0 0 0 0 0 28.83 26.30 28.83

1272 -1.25 -48.8 2385 3669 2690 2501 242.9 -17.9 75 1279 0.00 1.70 0.00 0.000 1030 0.000 0.025 2385 2512 2595 2690 2501 0 0 0 0 0 0 28.83 26.55 28.83

1480 -1.25 -48.8 2384 2512 2690 2501 277.9 -17.7 85 1486 0.00 2.08 0.00 0.000 516 0.000 0.027 2384 1099 2595 2690 2501 0 0 0 0 0 0 28.83 26.48 28.83

1536 -1.25 -48.8 2385 1098 2691 2501 286.6 -18.4 87 1543 0.12 2.12 0.00 0.000 3078 0.167 0.035 2406 2506 2595 2690 2501 0 0 0 0 0 0 26.11 26.38 28.83

1854 -1.25 -48.8 2405 2506 2690 2500 342.5 -16.6 103 1860 0.00 2.05 0.00 0.000 516 0.000 0.027 2405 1108 2595 2690 2501 0 0 0 0 0 0 28.83 26.48 28.83

1921 -1.25 -48.8 2405 1108 2690 2500 352.7 -14.9 106 1928 0.00 2.12 0.00 0.000 1030 0.000 0.035 2396 2507 2595 2690 2500 0 0 0 0 0 0 28.83 26.39 28.83

2249 -1.25 -48.8 2396 2506 2689 2499 405.6 -17.3 122 2254 0.00 1.80 0.00 0.000 260 0.000 0.052 2387 3668 2594 2690 2499 0 0 0 0 0 0 28.83 26.32 28.83

2336 -1.25 -48.8 2386 3668 2690 2498 421.1 -17.4 126 2342 0.00 1.67 0.00 0.000 1030 0.000 0.027 2387 2509 2594 2690 2498 0 0 0 0 0 0 28.83 26.58 28.83

2663 -1.25 -48.8 2387 2509 2690 2496 475.7 -16.6 142 2664 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2508 2592 2689 2496 0 0 0 0 0 0 28.83 28.83 28.83

2961 -1.25 -48.8 2387 2509 2690 2492 522.5 -15.1 157 2967 0.00 1.83 0.00 0.000 260 0.000 0.052 2378 3672 2591 2690 2492 0 0 0 0 0 0 28.83 26.30 28.83

3002 -1.25 -48.8 2377 3673 2690 2492 526.6 -15.4 158 3012 0.08 1.70 0.00 0.000 3078 0.138 0.026 2403 2521 2591 2690 2492 0 0 0 0 0 0 26.25 26.60 28.83

3307 -1.25 -48.8 2403 2521 2690 2489 572.3 -14.3 174 3308 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2521 2589 2690 2489 0 0 0 0 0 0 28.83 28.83 28.83

3626 -1.25 -48.8 2403 2521 2690 2486 618.9 -14.4 188 3627 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2521 2588 2690 2486 0 0 0 0 0 0 28.83 28.83 28.83

3927 -1.39 -90.2 2403 2521 2690 2483 640.8 -3.5 198 3933 0.12 1.83 0.00 0.000 4356 0.091 0.054 2333 3668 2586 2690 2483 0 0 0 0 0 0 26.62 26.24 28.83

4168 -1.53 -129.7 2332 3668 2690 2481 649.9 -3.7 205 4174 0.00 1.70 0.00 0.000 1030 0.000 0.031 2333 2516 2585 2690 2481 0 0 0 0 0 0 28.83 26.51 28.83

4483 end dive: NO_VERTICAL_VELOCITY

state 4483 begin apogee

4489 -0.20 0.0 2334 1987 2690 2479 655.2 0.0 216 4584 1.12 0.00 85.47 0.664 10244 0.065 0.000 2753 1986 2374 2510 2238 0 0 0 0 0 0 26.24 28.83 24.84

4588 end apogee: CONTROL_FINISHED_OK

state 4588 begin climb

4590 1.53 129.7 2753 1986 2506 2235 654.9 0.0 219 4749 1.45 2.15 146.77 0.762 10756 0.038 0.037 3324 619 1840 1961 1719 0 0 0 0 0 0 25.75 25.68 24.41

4986 1.53 129.7 3323 619 1919 1708 611.6 17.9 231 4992 0.00 2.10 0.00 0.000 1030 0.000 0.030 3324 2009 1813 1919 1708 0 0 0 0 0 0 28.83 26.03 28.83

5302 1.53 129.7 3324 2010 1916 1705 548.1 20.8 246 5308 0.00 2.17 0.00 0.000 260 0.000 0.044 3324 3400 1810 1916 1705 0 0 0 0 0 0 28.83 26.15 28.83

5549 1.53 129.7 3324 3401 1912 1706 500.3 19.2 257 5555 0.12 2.08 0.00 0.000 5126 0.185 0.027 3305 1999 1810 1913 1707 0 0 0 0 0 0 25.97 26.38 28.83

5866 1.53 129.7 3305 1999 1913 1702 449.9 14.5 273 5872 0.00 2.20 0.00 0.000 260 0.000 0.044 3305 3406 1807 1912 1702 0 0 0 0 0 0 28.83 26.26 28.83

6097 1.53 129.7 3304 3406 1910 1702 412.6 17.3 284 6104 0.00 2.08 0.00 0.000 1030 0.000 0.028 3316 2010 1805 1910 1701 0 0 0 0 0 0 28.83 26.44 28.83

6426 1.53 129.7 3315 2011 1908 1701 360.0 16.8 300 6432 0.00 2.17 0.00 0.000 260 0.000 0.045 3315 3403 1805 1908 1702 0 0 0 0 0 0 28.83 26.28 28.83

6543 1.53 129.7 3313 3403 1907 1701 342.8 15.6 305 6549 0.00 2.03 0.00 0.000 1030 0.000 0.028 3327 2024 1804 1907 1701 0 0 0 0 0 0 28.83 26.47 28.83

6858 1.53 129.7 3327 2024 1906 1700 299.7 14.3 321 6864 0.00 2.15 0.00 0.000 516 0.000 0.038 3339 613 1803 1906 1700 0 0 0 0 0 0 28.83 26.34 28.83

7011 1.53 129.7 2368 613 1858 1693 278.7 14.1 328 7018 0.12 2.10 0.00 0.000 5126 0.177 0.030 3308 2029 1803 1906 1700 0 0 0 0 0 0 26.04 26.42 28.83

7334 1.53 129.7 3308 2029 1905 1699 231.6 14.4 344 7340 0.00 2.12 0.00 0.000 260 0.000 0.045 3308 3399 1802 1905 1699 0 0 0 0 0 0 28.83 26.28 28.83

7368 1.53 129.7 3307 3398 1905 1699 227.6 14.5 345 7373 0.00 2.03 0.00 0.000 1030 0.000 0.028 3318 2021 1802 1905 1699 0 0 0 0 0 0 28.83 26.48 28.83

7564 1.53 129.7 3316 2021 1907 1699 201.9 11.0 355 7570 0.00 2.15 0.00 0.000 516 0.000 0.038 3330 608 1801 1905 1698 0 0 0 0 0 0 28.83 26.33 28.83

7714 1.53 129.7 3329 608 1905 1698 185.6 10.8 362 7720 0.00 2.10 0.00 0.000 1030 0.000 0.029 3329 2021 1802 1905 1699 0 0 0 0 0 0 28.83 26.42 28.83

7920 1.53 129.7 3329 2021 1905 1699 160.9 12.3 372 7921 0.00 0.00 0.00 0.000 6 0.000 0.000 3329 2021 1801 1904 1699 0 0 0 0 0 0 28.83 28.83 28.83

8099 1.53 129.7 3330 2021 1905 1699 137.3 15.3 381 8105 0.00 2.12 0.00 0.000 260 0.000 0.044 3330 3400 1801 1904 1698 0 0 0 0 0 0 28.83 26.27 28.83

8334 1.53 129.7 3330 3400 1904 1699 105.1 10.6 392 8341 0.15 2.03 0.00 0.000 5126 0.174 0.027 3302 2011 1801 1904 1699 0 0 0 0 0 0 25.98 26.49 28.83

8537 1.53 129.7 3302 2011 1903 1699 87.5 9.0 402 8543 0.00 2.10 0.00 0.000 516 0.000 0.037 3313 620 1801 1904 1698 0 0 0 0 0 0 28.83 26.34 28.83

8588 1.54 132.8 3312 621 1903 1699 83.9 8.0 404 8593 0.00 2.03 0.00 0.000 1030 0.000 0.030 3313 1991 1801 1904 1698 0 0 0 0 0 0 28.83 26.42 28.83

8789 1.76 193.3 3312 1991 1904 1698 77.2 1.3 414 8875 0.15 2.28 79.45 0.418 10500 0.075 0.044 3407 3399 1584 1683 1485 0 0 0 0 0 0 26.62 25.93 25.32

9111 1.76 193.3 3407 3399 1655 1470 47.5 9.9 430 9118 0.17 2.10 0.00 0.000 5126 0.174 0.026 3374 1981 1562 1655 1470 0 0 0 0 0 0 25.67 26.22 28.83

9307 1.83 213.7 3374 1981 1654 1468 36.1 6.0 449 9333 0.00 2.30 21.73 0.383 8452 0.000 0.044 3374 3406 1503 1605 1401 0 0 0 0 0 0 28.83 26.16 25.56

9507 1.90 235.1 3374 3406 1586 1386 21.1 5.8 472 9541 0.10 2.10 24.70 0.374 11270 0.092 0.026 3449 1986 1417 1523 1311 0 0 0 0 0 0 26.20 26.29 25.52

9664 end climb: SURFACE_DEPTH_REACHED

state 9664 begin surface coast

9682 end surface coast: CONTROL_FINISHED_OK

state 9682 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	340	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	63	ALTIM_SENSITIVITY	2
D_ABORT	1010	SM_CC	400	R_STBD_OVSHOOT	23	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	-20949.756	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	110413,115414,2318.845,12132.445,10,1.8,30,-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	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110413,120105,2319.146,12132.566,45,1.8,45,-3.1	MHEAD_RNG_PITCHd_Wd	177.9,2144,-27.0,-8.333,-30.00,882
SPEED_LIMITS	0.144,0.302	D_GRID	870

FINISH	0.5,1.022434	_10V_AH	10.2,32.095
SM_CCo	9703,80.35,0.060,0,0,748,400.08	FG_AHR_24Vo	0.000
SM_GC	1.03,8.55,0.80,80.35,0.031,0.048,0.060,137,2492,748,-8.26,-1.36,400.08,0,0,0,0,0,0,26.24,26.13,25.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2312.13,12134.45,110413,090945	MEM	322856
TT8_MAMPS	0.047936,0.047936	DATA_FILE_SIZE	16795,502
HUMID	47.36	CAP_FILE_SIZE	289363,0
INTERNAL_PRESSURE	9.6425	CFSIZE	260034560,220659712
TCM_TEMP	23.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.219, 18.0,1
SC_FREEKB	3911936	GPS	110413,144605,2319.478,12133.045,39,0.9,40,-3.1
_24V_AH	24.4,50.753

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	218	114.11	nil	0	0	0.00
Roll_motor	85	54	113.48	nil	0	0	0.00
VBD_pump_during_apogee	358	761	6658.02	nil	0	0	0.00
VBD_pump_during_surface	80	60	118.49	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	9674	4	1091.47
Iridium_during_xfer	205	126	636.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	27	13.38
TT8	2411	35	883.80
LPSleep	5078	2	113.45
TT8_Active	538	35	197.45
TT8_Sampling	1736	58	1034.57
TT8_CF8	429	65	288.96
TT8_Kalman	0	0	0.00
Analog_circuits	1542	15	236.06
GPS_charging	0	0	0.00
Compass	1432	5	87.52
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-1.25	-48.0	126	2486	834	660	0.0	0.0	0	82	0.00	0.00	-61.08	0.000	16386	0.000	0.000	126	2486	2517	2586	2449	0	0	0	0	0	0	28.83	28.83	28.83
86	-1.25	-48.8	126	2486	2586	2449	4.5	-8.2	8	103	8.98	2.12	-1.08	0.000	18948	0.219	0.038	2399	1087	2585	2669	2501	0	0	0	0	0	0	25.54	26.20	26.39
224	-1.25	-48.8	2399	1087	2677	2501	50.0	-25.6	24	233	0.00	2.17	0.00	0.000	1030	0.000	0.036	2389	2509	2589	2677	2501	0	0	0	0	0	0	28.83	26.14	28.83
413	-1.25	-48.8	2389	2509	2679	2501	85.2	-10.7	34	418	0.00	1.83	0.00	0.000	260	0.000	0.051	2380	3673	2590	2679	2501	0	0	0	0	0	0	28.83	26.17	28.83
484	-1.25	-48.8	2379	3673	2681	2500	97.3	-16.6	37	490	0.00	1.70	0.00	0.000	1030	0.000	0.023	2380	2474	2591	2681	2501	0	0	0	0	0	0	28.83	26.42	28.83
686	-1.25	-48.8	2379	2473	2686	2501	134.6	-18.2	47	692	0.00	1.88	0.00	0.000	260	0.000	0.051	2371	3671	2593	2686	2501	0	0	0	0	0	0	28.83	26.24	28.83
704	-1.25	-48.8	2371	3671	2686	2501	134.6	-18.2	47	713	0.12	1.70	0.00	0.000	3078	0.164	0.024	2403	2470	2594	2687	2501	0	0	0	0	0	0	26.10	26.47	28.83
892	-1.25	-48.8	2402	2468	2690	2501	172.4	-19.6	57	898	0.00	1.90	0.00	0.000	260	0.000	0.052	2394	3675	2595	2690	2501	0	0	0	0	0	0	28.83	26.27	28.83
1008	-1.25	-48.8	2393	3675	2689	2501	193.4	-19.5	62	1014	0.00	1.67	0.00	0.000	1030	0.000	0.023	2394	2496	2595	2689	2501	0	0	0	0	0	0	28.83	26.53	28.83
1205	-1.25	-48.8	2393	2494	2690	2501	230.6	-17.3	72	1211	0.00	1.83	0.00	0.000	260	0.000	0.051	2385	3670	2595	2690	2501	0	0	0	0	0	0	28.83	26.30	28.83
1272	-1.25	-48.8	2385	3669	2690	2501	242.9	-17.9	75	1279	0.00	1.70	0.00	0.000	1030	0.000	0.025	2385	2512	2595	2690	2501	0	0	0	0	0	0	28.83	26.55	28.83
1480	-1.25	-48.8	2384	2512	2690	2501	277.9	-17.7	85	1486	0.00	2.08	0.00	0.000	516	0.000	0.027	2384	1099	2595	2690	2501	0	0	0	0	0	0	28.83	26.48	28.83
1536	-1.25	-48.8	2385	1098	2691	2501	286.6	-18.4	87	1543	0.12	2.12	0.00	0.000	3078	0.167	0.035	2406	2506	2595	2690	2501	0	0	0	0	0	0	26.11	26.38	28.83
1854	-1.25	-48.8	2405	2506	2690	2500	342.5	-16.6	103	1860	0.00	2.05	0.00	0.000	516	0.000	0.027	2405	1108	2595	2690	2501	0	0	0	0	0	0	28.83	26.48	28.83
1921	-1.25	-48.8	2405	1108	2690	2500	352.7	-14.9	106	1928	0.00	2.12	0.00	0.000	1030	0.000	0.035	2396	2507	2595	2690	2500	0	0	0	0	0	0	28.83	26.39	28.83
2249	-1.25	-48.8	2396	2506	2689	2499	405.6	-17.3	122	2254	0.00	1.80	0.00	0.000	260	0.000	0.052	2387	3668	2594	2690	2499	0	0	0	0	0	0	28.83	26.32	28.83
2336	-1.25	-48.8	2386	3668	2690	2498	421.1	-17.4	126	2342	0.00	1.67	0.00	0.000	1030	0.000	0.027	2387	2509	2594	2690	2498	0	0	0	0	0	0	28.83	26.58	28.83
2663	-1.25	-48.8	2387	2509	2690	2496	475.7	-16.6	142	2664	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2508	2592	2689	2496	0	0	0	0	0	0	28.83	28.83	28.83
2961	-1.25	-48.8	2387	2509	2690	2492	522.5	-15.1	157	2967	0.00	1.83	0.00	0.000	260	0.000	0.052	2378	3672	2591	2690	2492	0	0	0	0	0	0	28.83	26.30	28.83
3002	-1.25	-48.8	2377	3673	2690	2492	526.6	-15.4	158	3012	0.08	1.70	0.00	0.000	3078	0.138	0.026	2403	2521	2591	2690	2492	0	0	0	0	0	0	26.25	26.60	28.83
3307	-1.25	-48.8	2403	2521	2690	2489	572.3	-14.3	174	3308	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2521	2589	2690	2489	0	0	0	0	0	0	28.83	28.83	28.83
3626	-1.25	-48.8	2403	2521	2690	2486	618.9	-14.4	188	3627	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2521	2588	2690	2486	0	0	0	0	0	0	28.83	28.83	28.83
3927	-1.39	-90.2	2403	2521	2690	2483	640.8	-3.5	198	3933	0.12	1.83	0.00	0.000	4356	0.091	0.054	2333	3668	2586	2690	2483	0	0	0	0	0	0	26.62	26.24	28.83
4168	-1.53	-129.7	2332	3668	2690	2481	649.9	-3.7	205	4174	0.00	1.70	0.00	0.000	1030	0.000	0.031	2333	2516	2585	2690	2481	0	0	0	0	0	0	28.83	26.51	28.83
4483	end dive: NO_VERTICAL_VELOCITY
state	4483	begin apogee
4489	-0.20	0.0	2334	1987	2690	2479	655.2	0.0	216	4584	1.12	0.00	85.47	0.664	10244	0.065	0.000	2753	1986	2374	2510	2238	0	0	0	0	0	0	26.24	28.83	24.84
4588	end apogee: CONTROL_FINISHED_OK
state	4588	begin climb
4590	1.53	129.7	2753	1986	2506	2235	654.9	0.0	219	4749	1.45	2.15	146.77	0.762	10756	0.038	0.037	3324	619	1840	1961	1719	0	0	0	0	0	0	25.75	25.68	24.41
4986	1.53	129.7	3323	619	1919	1708	611.6	17.9	231	4992	0.00	2.10	0.00	0.000	1030	0.000	0.030	3324	2009	1813	1919	1708	0	0	0	0	0	0	28.83	26.03	28.83
5302	1.53	129.7	3324	2010	1916	1705	548.1	20.8	246	5308	0.00	2.17	0.00	0.000	260	0.000	0.044	3324	3400	1810	1916	1705	0	0	0	0	0	0	28.83	26.15	28.83
5549	1.53	129.7	3324	3401	1912	1706	500.3	19.2	257	5555	0.12	2.08	0.00	0.000	5126	0.185	0.027	3305	1999	1810	1913	1707	0	0	0	0	0	0	25.97	26.38	28.83
5866	1.53	129.7	3305	1999	1913	1702	449.9	14.5	273	5872	0.00	2.20	0.00	0.000	260	0.000	0.044	3305	3406	1807	1912	1702	0	0	0	0	0	0	28.83	26.26	28.83
6097	1.53	129.7	3304	3406	1910	1702	412.6	17.3	284	6104	0.00	2.08	0.00	0.000	1030	0.000	0.028	3316	2010	1805	1910	1701	0	0	0	0	0	0	28.83	26.44	28.83
6426	1.53	129.7	3315	2011	1908	1701	360.0	16.8	300	6432	0.00	2.17	0.00	0.000	260	0.000	0.045	3315	3403	1805	1908	1702	0	0	0	0	0	0	28.83	26.28	28.83
6543	1.53	129.7	3313	3403	1907	1701	342.8	15.6	305	6549	0.00	2.03	0.00	0.000	1030	0.000	0.028	3327	2024	1804	1907	1701	0	0	0	0	0	0	28.83	26.47	28.83
6858	1.53	129.7	3327	2024	1906	1700	299.7	14.3	321	6864	0.00	2.15	0.00	0.000	516	0.000	0.038	3339	613	1803	1906	1700	0	0	0	0	0	0	28.83	26.34	28.83
7011	1.53	129.7	2368	613	1858	1693	278.7	14.1	328	7018	0.12	2.10	0.00	0.000	5126	0.177	0.030	3308	2029	1803	1906	1700	0	0	0	0	0	0	26.04	26.42	28.83
7334	1.53	129.7	3308	2029	1905	1699	231.6	14.4	344	7340	0.00	2.12	0.00	0.000	260	0.000	0.045	3308	3399	1802	1905	1699	0	0	0	0	0	0	28.83	26.28	28.83
7368	1.53	129.7	3307	3398	1905	1699	227.6	14.5	345	7373	0.00	2.03	0.00	0.000	1030	0.000	0.028	3318	2021	1802	1905	1699	0	0	0	0	0	0	28.83	26.48	28.83
7564	1.53	129.7	3316	2021	1907	1699	201.9	11.0	355	7570	0.00	2.15	0.00	0.000	516	0.000	0.038	3330	608	1801	1905	1698	0	0	0	0	0	0	28.83	26.33	28.83
7714	1.53	129.7	3329	608	1905	1698	185.6	10.8	362	7720	0.00	2.10	0.00	0.000	1030	0.000	0.029	3329	2021	1802	1905	1699	0	0	0	0	0	0	28.83	26.42	28.83
7920	1.53	129.7	3329	2021	1905	1699	160.9	12.3	372	7921	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	2021	1801	1904	1699	0	0	0	0	0	0	28.83	28.83	28.83
8099	1.53	129.7	3330	2021	1905	1699	137.3	15.3	381	8105	0.00	2.12	0.00	0.000	260	0.000	0.044	3330	3400	1801	1904	1698	0	0	0	0	0	0	28.83	26.27	28.83
8334	1.53	129.7	3330	3400	1904	1699	105.1	10.6	392	8341	0.15	2.03	0.00	0.000	5126	0.174	0.027	3302	2011	1801	1904	1699	0	0	0	0	0	0	25.98	26.49	28.83
8537	1.53	129.7	3302	2011	1903	1699	87.5	9.0	402	8543	0.00	2.10	0.00	0.000	516	0.000	0.037	3313	620	1801	1904	1698	0	0	0	0	0	0	28.83	26.34	28.83
8588	1.54	132.8	3312	621	1903	1699	83.9	8.0	404	8593	0.00	2.03	0.00	0.000	1030	0.000	0.030	3313	1991	1801	1904	1698	0	0	0	0	0	0	28.83	26.42	28.83
8789	1.76	193.3	3312	1991	1904	1698	77.2	1.3	414	8875	0.15	2.28	79.45	0.418	10500	0.075	0.044	3407	3399	1584	1683	1485	0	0	0	0	0	0	26.62	25.93	25.32
9111	1.76	193.3	3407	3399	1655	1470	47.5	9.9	430	9118	0.17	2.10	0.00	0.000	5126	0.174	0.026	3374	1981	1562	1655	1470	0	0	0	0	0	0	25.67	26.22	28.83
9307	1.83	213.7	3374	1981	1654	1468	36.1	6.0	449	9333	0.00	2.30	21.73	0.383	8452	0.000	0.044	3374	3406	1503	1605	1401	0	0	0	0	0	0	28.83	26.16	25.56
9507	1.90	235.1	3374	3406	1586	1386	21.1	5.8	472	9541	0.10	2.10	24.70	0.374	11270	0.092	0.026	3449	1986	1417	1523	1311	0	0	0	0	0	0	26.20	26.29	25.52
9664	end climb: SURFACE_DEPTH_REACHED
state	9664	begin surface coast
9682	end surface coast: CONTROL_FINISHED_OK
state	9682	begin surface