Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 37 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 HEADING -1 ROLL_MAX 3764 ALTIM_PING_DEPTH 500

DIVE 37 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2275 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 425 R_PORT_OVSHOOT 81 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 54 INT_PRESSURE_YINT 0

T_BOOST 4 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2968 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 330 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -8 T_GPS_CHARGE -968535.12 CF8_MAXERRORS 0 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 200 PITCH_MAX 3944 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2740 PRESSURE_YINT -16.305099 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52251 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 2 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 50 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_TGT 990 PITCH_CNV 0.0031256729 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.305099 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 330

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 5

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -968535.12

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2740 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2250 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2275 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2968 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -8

DEEPGLIDERMB 0 MASS 52251 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 81 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 54 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 14 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -9.8829851 VBD_MIN 460

DIVE 37 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 0

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 211012,050229,2216.428,12109.926,41,0.9,41,-3.2 TGT_NAME N1

_CALLS 2 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211012,051303,2216.402,12109.732,5,0.9,5,-3.2 MHEAD_RNG_PITCHd_Wd 38.6,91620,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 655

Post-dive calculations and measurements:

FINISH 0.7,1.013288 _10V_AH 9.9,8.016

SM_CCo 10612,0.00,0.000,0,0,462,614.72 FG_AHR_24Vo 0.000

SM_GC 1.47,7.30,0.00,0.00,0.023,0.000,0.000,115,2257,462,-8.10,-0.51,614.72,0,0,0,0,0,0,26.53,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2209.02,12110.21,211012,050520 MEM 323836

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 20071,594

HUMID 53.38 CAP_FILE_SIZE 141227,0

INTERNAL_PRESSURE 9.41442 CFSIZE 260165632,246218752

TCM_TEMP 25.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 6 CURRENT 0.204,279.2,1

ALTIM_BOTTOM_PING 550.3,7.9 GPS 211012,081136,2217.948,12109.360,30,1.0,30,-3.2

_24V_AH 23.9,14.986

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 222 108.41 nil 0 0 0.00

Roll_motor 84 63 128.91 nil 0 0 0.00

VBD_pump_during_apogee 648 1293 20045.30 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 10556 15 3873.13

Iridium_during_xfer 405 126 1222.17 nil 0 0 0.00

Transponder_ping 2 420 22.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.54

TT8 1853 14 269.97

LPSleep 6550 2 142.03

TT8_Active 684 14 99.67

TT8_Sampling 1886 37 708.57

TT8_CF8 270 44 119.82

TT8_Kalman 0 0 0.00

Analog_circuits 1938 16 307.06

GPS_charging 0 0 0.00

Compass 1423 8 116.16

RAFOS 0 0 0.00

Transponder 7 30 2.16

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 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 15 begin dive

18 -0.47 -195.5 0.0 0.0 0 90 0.00 0.00 -70.20 0.000 2 0.000 0.000 111 2264 2396 0 0 0 0 0 0 28.83 28.83 28.83

94 -0.47 -195.5 3.0 -5.5 12 143 9.55 0.00 -34.65 0.000 6 0.223 0.000 2580 2265 3766 0 0 0 0 0 0 25.66 28.83 26.46

453 -0.46 -195.5 59.3 -15.0 58 458 0.00 2.15 0.00 0.000 4 0.000 0.044 2574 3672 3767 0 0 0 0 0 0 28.83 26.30 28.83

525 -0.46 -195.5 68.3 -14.4 61 530 0.00 1.98 0.00 0.000 6 0.000 0.021 2575 2292 3767 0 0 0 0 0 0 28.83 26.44 28.83

838 -0.53 -195.5 91.5 -6.6 77 839 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2292 3767 0 0 0 0 0 0 28.83 28.83 28.83

1140 -0.60 -195.5 114.0 -7.7 92 1145 0.00 2.05 0.00 0.000 4 0.000 0.031 2574 865 3768 0 0 0 0 0 0 28.83 26.57 28.83

1184 -0.68 -195.5 117.9 -8.2 94 1190 0.15 2.08 0.00 0.000 6 0.067 0.034 2476 2272 3768 0 0 0 0 0 0 26.58 26.55 28.83

1508 -0.67 -195.5 174.9 -15.3 110 1514 0.12 2.12 0.00 0.000 4 0.149 0.041 2507 3682 3768 0 0 0 0 0 0 26.46 26.55 28.83

1609 -0.69 -195.5 185.0 -11.9 114 1615 0.00 2.00 0.00 0.000 6 0.000 0.021 2507 2277 3768 0 0 0 0 0 0 28.83 26.67 28.83

1913 -0.73 -195.5 217.0 -9.6 130 1914 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2277 3768 0 0 0 0 0 0 28.83 28.83 28.83

2215 -0.76 -195.5 247.0 -11.4 145 2216 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2277 3770 0 0 0 0 0 0 28.83 28.83 28.83

2515 -0.80 -195.5 272.4 -7.1 160 2520 0.00 2.17 0.00 0.000 4 0.000 0.057 2507 3680 3765 0 0 0 0 0 0 28.83 26.16 28.83

2602 -0.86 -195.5 277.9 -6.6 164 2609 0.12 2.03 0.00 0.000 6 0.080 0.021 2433 2264 3765 0 0 0 0 0 0 26.67 26.72 28.83

2922 -0.84 -195.5 322.0 -15.2 180 2924 0.12 0.00 0.00 0.000 6 0.149 0.000 2467 2263 3763 0 0 0 0 0 0 26.57 28.83 28.83

3225 -0.86 -195.5 353.2 -9.6 195 3230 0.00 2.17 0.00 0.000 4 0.000 0.050 2467 3670 3761 0 0 0 0 0 0 28.83 26.58 28.83

3262 -0.88 -195.5 355.7 -9.5 196 3270 0.00 2.00 0.00 0.000 6 0.000 0.022 2467 2276 3761 0 0 0 0 0 0 28.83 26.72 28.83

3568 -0.91 -195.5 386.0 -9.2 212 3575 0.00 2.17 0.00 0.000 4 0.000 0.050 2467 3670 3759 0 0 0 0 0 0 28.83 26.58 28.83

3642 -0.93 -195.5 391.9 -9.3 215 3647 0.00 2.00 0.00 0.000 6 0.000 0.022 2467 2276 3758 0 0 0 0 0 0 28.83 26.72 28.83

3956 -0.95 -195.5 423.3 -10.8 231 3961 0.00 2.17 -0.08 0.000 4 0.000 0.063 2467 3670 3783 0 0 0 0 0 0 28.83 26.56 26.05

4003 -0.98 -195.5 428.1 -10.9 233 4010 0.15 2.03 0.00 0.000 6 0.073 0.023 2390 2261 3784 0 0 0 0 0 0 26.67 26.72 28.83

4324 -0.94 -195.5 475.7 -13.9 249 4330 0.12 2.03 0.00 0.000 4 0.161 0.033 2429 866 3782 0 0 0 0 0 0 26.51 26.67 28.83

4412 -0.94 -195.5 485.8 -11.7 253 4417 0.00 2.12 0.00 0.000 6 0.000 0.037 2429 2275 3781 0 0 0 0 0 0 28.83 26.63 28.83

4730 -0.94 -195.5 527.4 -12.4 269 4735 0.00 2.15 0.00 0.000 4 0.000 0.047 2427 3688 3778 0 0 0 0 0 0 28.83 26.58 28.83

4822 -0.94 -195.5 537.7 -12.4 273 4828 0.00 2.03 0.00 0.000 6 0.000 0.021 2427 2248 3778 0 0 0 0 0 0 28.83 26.77 28.83

4918 end dive: BOTTOM_OBSTACLE_DETECTED

state 4918 begin apogee

4923 -0.20 0.0 550.3 -12.5 278 5086 0.73 0.00 156.75 0.907 6 0.112 0.000 2672 2245 2965 0 0 0 0 0 0 26.35 28.83 24.37

5088 end apogee: CONTROL_FINISHED_OK

state 5088 begin climb

5090 0.47 195.5 559.1 0.0 286 5262 0.57 2.38 160.68 0.864 4 0.043 0.044 2903 3650 2160 0 0 0 0 0 0 25.20 24.89 24.22

5489 0.40 195.5 522.8 13.6 306 5495 0.15 2.05 0.00 0.000 6 0.159 0.026 2870 2278 2150 0 0 0 0 0 0 25.76 25.98 28.83

5804 0.39 203.5 488.7 9.7 322 5810 0.00 2.15 0.00 0.000 4 0.000 0.046 2870 3664 2147 0 0 0 0 0 0 28.83 26.22 28.83

5963 0.36 203.5 472.8 10.8 329 5970 0.00 2.08 0.00 0.000 6 0.000 0.025 2875 2245 2146 0 0 0 0 0 0 28.83 26.39 28.83

6269 0.35 237.4 442.4 8.8 345 6313 0.00 2.33 35.03 0.855 4 0.000 0.044 2875 3669 1990 0 0 0 0 0 0 28.83 25.77 25.12

6416 0.33 237.4 428.6 10.3 352 6422 0.00 2.10 0.00 0.000 6 0.000 0.025 2876 2250 1985 0 0 0 0 0 0 28.83 26.09 28.83

6735 0.33 283.6 400.5 8.4 368 6783 0.00 2.30 36.35 1.232 4 0.000 0.046 2874 3657 1810 0 0 0 0 1 0 28.83 25.35 24.36

6839 0.32 283.6 390.5 10.0 373 6845 0.12 2.12 0.00 0.000 6 0.150 0.025 2843 2245 1814 0 0 0 0 0 0 25.65 25.79 28.83

7164 0.37 337.8 365.5 8.1 389 7225 0.00 2.40 49.38 1.272 4 0.000 0.044 2843 3663 1589 0 0 0 0 1 0 28.83 25.08 24.11

7311 0.41 337.8 351.7 10.1 396 7316 0.00 2.12 0.00 0.000 6 0.000 0.024 2843 2248 1592 0 0 0 0 0 0 28.83 25.78 28.83

7630 0.50 438.5 326.5 6.5 412 7730 0.17 2.42 89.20 1.294 4 0.063 0.047 2934 3666 1179 0 0 0 0 1 0 26.28 24.84 23.93

7759 0.49 438.5 311.4 13.0 418 7766 0.15 2.17 0.00 0.000 6 0.142 0.026 2894 2251 1181 0 0 0 0 0 0 25.24 25.35 28.83

8079 0.53 454.7 279.7 9.4 434 8099 0.00 0.00 18.10 0.800 6 0.000 0.000 2894 2250 1113 0 0 0 0 0 0 28.83 28.83 25.11

8399 0.57 463.0 250.9 9.7 450 8409 0.00 0.00 7.43 0.876 6 0.000 0.000 2894 2250 1081 0 0 0 0 0 0 28.83 28.83 25.35

8700 0.63 483.1 220.9 9.3 465 8725 0.12 2.17 19.60 0.755 4 0.081 0.034 2976 854 992 0 0 0 0 0 0 26.40 25.96 25.33

8744 0.65 483.1 215.1 11.2 467 8749 0.00 2.12 0.00 0.000 6 0.000 0.028 2976 2264 988 0 0 0 0 0 0 28.83 26.03 28.83

9068 0.63 483.1 164.5 15.4 483 9074 0.12 2.12 0.00 0.000 4 0.132 0.042 2937 3655 988 0 0 0 0 0 0 26.24 26.28 28.83

9132 0.63 483.1 155.6 14.0 486 9138 0.00 2.08 0.00 0.000 6 0.000 0.023 2937 2229 987 0 0 0 0 0 0 28.83 26.39 28.83

9456 0.68 540.6 123.1 8.0 502 9509 0.00 2.12 45.53 0.634 4 0.000 0.033 2937 855 752 0 0 0 0 0 0 28.83 25.82 25.26

9565 0.77 604.3 114.7 7.8 507 9600 0.15 2.08 24.88 0.392 6 0.067 0.025 3023 2254 503 0 0 0 0 0 0 26.01 26.00 25.34

9898 0.77 604.3 60.6 13.7 524 9903 0.12 2.12 0.00 0.000 4 0.132 0.041 2980 3649 504 0 0 0 0 0 0 26.17 26.21 28.83

10032 0.84 629.4 47.7 9.1 531 10045 0.00 2.03 4.50 0.231 6 0.000 0.021 2980 2237 459 0 0 0 0 0 0 28.83 26.39 25.89

10345 0.97 738.5 27.9 6.2 562 10352 0.17 2.00 0.47 0.230 4 0.061 0.029 3090 862 458 0 0 0 0 0 0 26.53 26.45 26.22

10390 0.97 738.5 22.2 14.1 567 10399 0.12 2.03 0.47 0.291 6 0.119 0.025 3052 2255 456 0 0 0 0 0 0 26.35 26.47 26.22

10511 end climb: SURFACE_DEPTH_REACHED

state 10511 begin surface coast

10534 end surface coast: CONTROL_FINISHED_OK

state 10534 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	HEADING	-1	ROLL_MAX	3764	ALTIM_PING_DEPTH	500
DIVE	37	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2275	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	425	R_PORT_OVSHOOT	81	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	54	INT_PRESSURE_YINT	0
T_BOOST	4	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2968	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	330	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-8	T_GPS_CHARGE	-968535.12	CF8_MAXERRORS	0	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	200	PITCH_MAX	3944	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2740	PRESSURE_YINT	-16.305099	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52251	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	2	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	50	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	211012,050229,2216.428,12109.926,41,0.9,41,-3.2	TGT_NAME	N1
_CALLS	2	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211012,051303,2216.402,12109.732,5,0.9,5,-3.2	MHEAD_RNG_PITCHd_Wd	38.6,91620,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	655

FINISH	0.7,1.013288	_10V_AH	9.9,8.016
SM_CCo	10612,0.00,0.000,0,0,462,614.72	FG_AHR_24Vo	0.000
SM_GC	1.47,7.30,0.00,0.00,0.023,0.000,0.000,115,2257,462,-8.10,-0.51,614.72,0,0,0,0,0,0,26.53,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2209.02,12110.21,211012,050520	MEM	323836
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	20071,594
HUMID	53.38	CAP_FILE_SIZE	141227,0
INTERNAL_PRESSURE	9.41442	CFSIZE	260165632,246218752
TCM_TEMP	25.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	6	CURRENT	0.204,279.2,1
ALTIM_BOTTOM_PING	550.3,7.9	GPS	211012,081136,2217.948,12109.360,30,1.0,30,-3.2
_24V_AH	23.9,14.986

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	222	108.41	nil	0	0	0.00
Roll_motor	84	63	128.91	nil	0	0	0.00
VBD_pump_during_apogee	648	1293	20045.30	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	10556	15	3873.13
Iridium_during_xfer	405	126	1222.17	nil	0	0	0.00
Transponder_ping	2	420	22.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.54
TT8	1853	14	269.97
LPSleep	6550	2	142.03
TT8_Active	684	14	99.67
TT8_Sampling	1886	37	708.57
TT8_CF8	270	44	119.82
TT8_Kalman	0	0	0.00
Analog_circuits	1938	16	307.06
GPS_charging	0	0	0.00
Compass	1423	8	116.16
RAFOS	0	0	0.00
Transponder	7	30	2.16

st_secs	pitch_ctl	vbd_ctl	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	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	15	begin dive
18	-0.47	-195.5	0.0	0.0	0	90	0.00	0.00	-70.20	0.000	2	0.000	0.000	111	2264	2396	0	0	0	0	0	0	28.83	28.83	28.83
94	-0.47	-195.5	3.0	-5.5	12	143	9.55	0.00	-34.65	0.000	6	0.223	0.000	2580	2265	3766	0	0	0	0	0	0	25.66	28.83	26.46
453	-0.46	-195.5	59.3	-15.0	58	458	0.00	2.15	0.00	0.000	4	0.000	0.044	2574	3672	3767	0	0	0	0	0	0	28.83	26.30	28.83
525	-0.46	-195.5	68.3	-14.4	61	530	0.00	1.98	0.00	0.000	6	0.000	0.021	2575	2292	3767	0	0	0	0	0	0	28.83	26.44	28.83
838	-0.53	-195.5	91.5	-6.6	77	839	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2292	3767	0	0	0	0	0	0	28.83	28.83	28.83
1140	-0.60	-195.5	114.0	-7.7	92	1145	0.00	2.05	0.00	0.000	4	0.000	0.031	2574	865	3768	0	0	0	0	0	0	28.83	26.57	28.83
1184	-0.68	-195.5	117.9	-8.2	94	1190	0.15	2.08	0.00	0.000	6	0.067	0.034	2476	2272	3768	0	0	0	0	0	0	26.58	26.55	28.83
1508	-0.67	-195.5	174.9	-15.3	110	1514	0.12	2.12	0.00	0.000	4	0.149	0.041	2507	3682	3768	0	0	0	0	0	0	26.46	26.55	28.83
1609	-0.69	-195.5	185.0	-11.9	114	1615	0.00	2.00	0.00	0.000	6	0.000	0.021	2507	2277	3768	0	0	0	0	0	0	28.83	26.67	28.83
1913	-0.73	-195.5	217.0	-9.6	130	1914	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2277	3768	0	0	0	0	0	0	28.83	28.83	28.83
2215	-0.76	-195.5	247.0	-11.4	145	2216	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2277	3770	0	0	0	0	0	0	28.83	28.83	28.83
2515	-0.80	-195.5	272.4	-7.1	160	2520	0.00	2.17	0.00	0.000	4	0.000	0.057	2507	3680	3765	0	0	0	0	0	0	28.83	26.16	28.83
2602	-0.86	-195.5	277.9	-6.6	164	2609	0.12	2.03	0.00	0.000	6	0.080	0.021	2433	2264	3765	0	0	0	0	0	0	26.67	26.72	28.83
2922	-0.84	-195.5	322.0	-15.2	180	2924	0.12	0.00	0.00	0.000	6	0.149	0.000	2467	2263	3763	0	0	0	0	0	0	26.57	28.83	28.83
3225	-0.86	-195.5	353.2	-9.6	195	3230	0.00	2.17	0.00	0.000	4	0.000	0.050	2467	3670	3761	0	0	0	0	0	0	28.83	26.58	28.83
3262	-0.88	-195.5	355.7	-9.5	196	3270	0.00	2.00	0.00	0.000	6	0.000	0.022	2467	2276	3761	0	0	0	0	0	0	28.83	26.72	28.83
3568	-0.91	-195.5	386.0	-9.2	212	3575	0.00	2.17	0.00	0.000	4	0.000	0.050	2467	3670	3759	0	0	0	0	0	0	28.83	26.58	28.83
3642	-0.93	-195.5	391.9	-9.3	215	3647	0.00	2.00	0.00	0.000	6	0.000	0.022	2467	2276	3758	0	0	0	0	0	0	28.83	26.72	28.83
3956	-0.95	-195.5	423.3	-10.8	231	3961	0.00	2.17	-0.08	0.000	4	0.000	0.063	2467	3670	3783	0	0	0	0	0	0	28.83	26.56	26.05
4003	-0.98	-195.5	428.1	-10.9	233	4010	0.15	2.03	0.00	0.000	6	0.073	0.023	2390	2261	3784	0	0	0	0	0	0	26.67	26.72	28.83
4324	-0.94	-195.5	475.7	-13.9	249	4330	0.12	2.03	0.00	0.000	4	0.161	0.033	2429	866	3782	0	0	0	0	0	0	26.51	26.67	28.83
4412	-0.94	-195.5	485.8	-11.7	253	4417	0.00	2.12	0.00	0.000	6	0.000	0.037	2429	2275	3781	0	0	0	0	0	0	28.83	26.63	28.83
4730	-0.94	-195.5	527.4	-12.4	269	4735	0.00	2.15	0.00	0.000	4	0.000	0.047	2427	3688	3778	0	0	0	0	0	0	28.83	26.58	28.83
4822	-0.94	-195.5	537.7	-12.4	273	4828	0.00	2.03	0.00	0.000	6	0.000	0.021	2427	2248	3778	0	0	0	0	0	0	28.83	26.77	28.83
4918	end dive: BOTTOM_OBSTACLE_DETECTED
state	4918	begin apogee
4923	-0.20	0.0	550.3	-12.5	278	5086	0.73	0.00	156.75	0.907	6	0.112	0.000	2672	2245	2965	0	0	0	0	0	0	26.35	28.83	24.37
5088	end apogee: CONTROL_FINISHED_OK
state	5088	begin climb
5090	0.47	195.5	559.1	0.0	286	5262	0.57	2.38	160.68	0.864	4	0.043	0.044	2903	3650	2160	0	0	0	0	0	0	25.20	24.89	24.22
5489	0.40	195.5	522.8	13.6	306	5495	0.15	2.05	0.00	0.000	6	0.159	0.026	2870	2278	2150	0	0	0	0	0	0	25.76	25.98	28.83
5804	0.39	203.5	488.7	9.7	322	5810	0.00	2.15	0.00	0.000	4	0.000	0.046	2870	3664	2147	0	0	0	0	0	0	28.83	26.22	28.83
5963	0.36	203.5	472.8	10.8	329	5970	0.00	2.08	0.00	0.000	6	0.000	0.025	2875	2245	2146	0	0	0	0	0	0	28.83	26.39	28.83
6269	0.35	237.4	442.4	8.8	345	6313	0.00	2.33	35.03	0.855	4	0.000	0.044	2875	3669	1990	0	0	0	0	0	0	28.83	25.77	25.12
6416	0.33	237.4	428.6	10.3	352	6422	0.00	2.10	0.00	0.000	6	0.000	0.025	2876	2250	1985	0	0	0	0	0	0	28.83	26.09	28.83
6735	0.33	283.6	400.5	8.4	368	6783	0.00	2.30	36.35	1.232	4	0.000	0.046	2874	3657	1810	0	0	0	0	1	0	28.83	25.35	24.36
6839	0.32	283.6	390.5	10.0	373	6845	0.12	2.12	0.00	0.000	6	0.150	0.025	2843	2245	1814	0	0	0	0	0	0	25.65	25.79	28.83
7164	0.37	337.8	365.5	8.1	389	7225	0.00	2.40	49.38	1.272	4	0.000	0.044	2843	3663	1589	0	0	0	0	1	0	28.83	25.08	24.11
7311	0.41	337.8	351.7	10.1	396	7316	0.00	2.12	0.00	0.000	6	0.000	0.024	2843	2248	1592	0	0	0	0	0	0	28.83	25.78	28.83
7630	0.50	438.5	326.5	6.5	412	7730	0.17	2.42	89.20	1.294	4	0.063	0.047	2934	3666	1179	0	0	0	0	1	0	26.28	24.84	23.93
7759	0.49	438.5	311.4	13.0	418	7766	0.15	2.17	0.00	0.000	6	0.142	0.026	2894	2251	1181	0	0	0	0	0	0	25.24	25.35	28.83
8079	0.53	454.7	279.7	9.4	434	8099	0.00	0.00	18.10	0.800	6	0.000	0.000	2894	2250	1113	0	0	0	0	0	0	28.83	28.83	25.11
8399	0.57	463.0	250.9	9.7	450	8409	0.00	0.00	7.43	0.876	6	0.000	0.000	2894	2250	1081	0	0	0	0	0	0	28.83	28.83	25.35
8700	0.63	483.1	220.9	9.3	465	8725	0.12	2.17	19.60	0.755	4	0.081	0.034	2976	854	992	0	0	0	0	0	0	26.40	25.96	25.33
8744	0.65	483.1	215.1	11.2	467	8749	0.00	2.12	0.00	0.000	6	0.000	0.028	2976	2264	988	0	0	0	0	0	0	28.83	26.03	28.83
9068	0.63	483.1	164.5	15.4	483	9074	0.12	2.12	0.00	0.000	4	0.132	0.042	2937	3655	988	0	0	0	0	0	0	26.24	26.28	28.83
9132	0.63	483.1	155.6	14.0	486	9138	0.00	2.08	0.00	0.000	6	0.000	0.023	2937	2229	987	0	0	0	0	0	0	28.83	26.39	28.83
9456	0.68	540.6	123.1	8.0	502	9509	0.00	2.12	45.53	0.634	4	0.000	0.033	2937	855	752	0	0	0	0	0	0	28.83	25.82	25.26
9565	0.77	604.3	114.7	7.8	507	9600	0.15	2.08	24.88	0.392	6	0.067	0.025	3023	2254	503	0	0	0	0	0	0	26.01	26.00	25.34
9898	0.77	604.3	60.6	13.7	524	9903	0.12	2.12	0.00	0.000	4	0.132	0.041	2980	3649	504	0	0	0	0	0	0	26.17	26.21	28.83
10032	0.84	629.4	47.7	9.1	531	10045	0.00	2.03	4.50	0.231	6	0.000	0.021	2980	2237	459	0	0	0	0	0	0	28.83	26.39	25.89
10345	0.97	738.5	27.9	6.2	562	10352	0.17	2.00	0.47	0.230	4	0.061	0.029	3090	862	458	0	0	0	0	0	0	26.53	26.45	26.22
10390	0.97	738.5	22.2	14.1	567	10399	0.12	2.03	0.47	0.291	6	0.119	0.025	3052	2255	456	0	0	0	0	0	0	26.35	26.47	26.22
10511	end climb: SURFACE_DEPTH_REACHED
state	10511	begin surface coast
10534	end surface coast: CONTROL_FINISHED_OK
state	10534	begin surface