Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 38 * 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 38 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 77 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 50 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 -968536.5 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 -968536.5

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 77 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 50 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 38 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 211012,081136,2217.948,12109.360,30,1.0,30,-3.2 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211012,081740,2217.929,12109.189,4,1.0,5,-3.2 MHEAD_RNG_PITCHd_Wd 64.5,89214,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 655

Post-dive calculations and measurements:

FINISH 0.8,1.011057 _10V_AH 10.0,8.108

SM_CCo 10598,0.00,0.000,0,0,466,613.74 FG_AHR_24Vo 0.000

SM_GC 1.50,7.35,0.00,0.00,0.021,0.000,0.000,101,2261,466,-8.12,-0.40,613.74,0,0,0,0,0,0,26.50,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2209.02,12107.01,211012,050501 MEM 323808

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 20094,582

HUMID 52.87 CAP_FILE_SIZE 132942,0

INTERNAL_PRESSURE 9.42419 CFSIZE 260165632,246153216

TCM_TEMP 26.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 7 CURRENT 0.149,295.5,1

ALTIM_BOTTOM_PING 550.7,7.8 GPS 211012,111606,2219.119,12109.920,36,1.3,36,-3.2

_24V_AH 24.3,15.140

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 229 110.84 nil 0 0 0.00

Roll_motor 88 48 105.65 nil 0 0 0.00

VBD_pump_during_apogee 636 1298 20073.75 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 10541 15 4014.07

Iridium_during_xfer 211 124 642.23 nil 0 0 0.00

Transponder_ping 2 420 25.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.56

TT8 1732 14 254.85

LPSleep 6703 2 146.81

TT8_Active 682 14 100.45

TT8_Sampling 1599 37 606.60

TT8_CF8 252 44 112.62

TT8_Kalman 0 0 0.00

Analog_circuits 1703 16 272.55

GPS_charging 0 0 0.00

Compass 1329 8 109.54

RAFOS 0 0 0.00

Transponder 11 30 3.39

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 96 0.00 0.00 -75.55 0.000 2 0.000 0.000 113 2265 2509 0 0 0 0 0 0 28.83 28.83 28.83

99 -0.47 -195.5 3.1 -5.1 13 144 9.68 2.10 -28.75 0.000 4 0.230 0.044 2584 879 3767 0 0 0 0 0 0 25.79 26.26 26.55

217 -0.50 -195.5 18.7 -12.0 34 224 0.00 2.05 0.00 0.000 6 0.000 0.030 2585 2266 3767 0 0 0 0 0 0 28.83 26.29 28.83

532 -0.50 -195.5 69.8 -15.8 63 538 0.00 2.15 0.00 0.000 4 0.000 0.047 2585 3676 3768 0 0 0 0 0 0 28.83 26.41 28.83

596 -0.52 -195.5 78.6 -14.2 66 602 0.00 2.00 0.00 0.000 6 0.000 0.021 2584 2287 3768 0 0 0 0 0 0 28.83 26.53 28.83

921 -0.60 -195.5 102.8 -6.9 82 926 0.12 2.05 0.00 0.000 4 0.078 0.032 2495 871 3769 0 0 0 0 0 0 26.65 26.56 28.83

948 -0.66 -195.5 105.3 -7.8 83 955 0.12 2.08 0.00 0.000 6 0.142 0.036 2531 2269 3769 0 0 0 0 0 0 26.36 26.16 28.83

1269 -0.67 -195.5 144.8 -13.3 99 1274 0.00 2.15 0.00 0.000 4 0.000 0.047 2531 3696 3770 0 0 0 0 0 0 28.83 26.56 28.83

1308 -0.69 -195.5 147.6 -13.0 100 1315 0.00 2.05 0.00 0.000 6 0.000 0.020 2531 2261 3770 0 0 0 0 0 0 28.83 26.67 28.83

1613 -0.74 -195.5 177.5 -9.2 116 1614 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2260 3770 0 0 0 0 0 0 28.83 28.83 28.83

1914 -0.80 -195.5 201.5 -7.7 131 1921 0.12 2.17 0.00 0.000 4 0.079 0.046 2440 3678 3769 0 0 0 0 0 0 26.77 26.59 28.83

2014 -0.80 -195.5 212.3 -12.5 135 2022 0.15 2.00 0.00 0.000 6 0.142 0.021 2483 2272 3769 0 0 0 0 0 0 26.47 26.72 28.83

2319 -0.82 -195.5 249.5 -10.5 151 2320 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2271 3769 0 0 0 0 0 0 28.83 28.83 28.83

2621 -0.83 -195.5 283.0 -11.5 166 2626 0.00 2.17 0.00 0.000 4 0.000 0.048 2482 3678 3767 0 0 0 0 0 0 28.83 26.60 28.83

2659 -0.85 -195.5 285.9 -11.7 167 2665 0.00 2.00 0.00 0.000 6 0.000 0.021 2482 2272 3767 0 0 0 0 0 0 28.83 26.74 28.83

2965 -0.88 -195.5 316.4 -9.3 183 2970 0.00 2.17 0.00 0.000 4 0.000 0.049 2482 3683 3765 0 0 0 0 0 0 28.83 26.60 28.83

3009 -0.90 -195.5 320.8 -9.9 185 3015 0.00 2.00 0.00 0.000 6 0.000 0.021 2482 2278 3765 0 0 0 0 0 0 28.83 26.74 28.83

3333 -0.93 -195.5 351.3 -8.4 201 3335 0.12 0.00 0.00 0.000 6 0.082 0.000 2411 2278 3763 0 0 0 0 0 0 26.80 28.83 28.83

3635 -0.90 -195.5 390.1 -14.0 216 3641 0.12 2.17 0.00 0.000 4 0.157 0.047 2446 3683 3761 0 0 0 0 0 0 26.53 26.60 28.83

3702 -0.90 -195.5 398.4 -12.9 219 3709 0.00 2.03 0.00 0.000 6 0.000 0.022 2446 2268 3761 0 0 0 0 0 0 28.83 26.74 28.83

4021 -0.90 -195.5 436.9 -11.0 235 4022 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2268 3758 0 0 0 0 0 0 28.83 28.83 28.83

4323 -0.90 -195.5 471.5 -12.8 250 4329 0.00 2.17 0.00 0.000 4 0.000 0.049 2446 3679 3756 0 0 0 0 0 0 28.83 26.62 28.83

4350 -0.90 -195.5 474.8 -12.9 251 4356 0.00 2.03 -0.08 0.000 6 0.000 0.022 2447 2244 3779 0 0 0 0 0 0 28.83 26.77 25.78

4669 -0.92 -195.5 517.7 -12.4 267 4670 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2244 3778 0 0 0 0 0 0 28.83 28.83 28.83

4952 end dive: BOTTOM_OBSTACLE_DETECTED

state 4952 begin apogee

4958 -0.20 0.0 550.7 -11.6 281 5122 0.65 0.00 156.48 0.902 6 0.106 0.000 2670 2242 2961 0 0 0 0 0 0 26.41 28.83 24.46

5124 end apogee: CONTROL_FINISHED_OK

state 5124 begin climb

5127 0.47 195.5 561.0 0.0 289 5299 0.57 2.38 160.60 0.864 4 0.044 0.044 2900 3653 2159 0 0 0 0 0 0 25.26 24.96 24.30

5327 0.43 256.8 556.4 7.9 299 5386 0.00 2.12 51.65 0.850 6 0.000 0.025 2909 2263 1913 0 0 0 0 0 0 28.83 25.42 24.35

5695 0.40 256.8 510.4 11.5 318 5701 0.12 2.20 0.00 0.000 4 0.151 0.044 2869 3663 1899 0 0 0 0 0 0 25.98 26.07 28.83

5768 0.38 256.8 503.6 10.7 321 5774 0.00 2.10 0.00 0.000 6 0.000 0.025 2874 2248 1897 0 0 0 0 0 0 28.83 26.22 28.83

6082 0.38 256.8 469.7 11.7 337 6088 0.00 2.08 0.00 0.000 4 0.000 0.036 2875 855 1896 0 0 0 0 0 0 28.83 26.36 28.83

6120 0.38 256.8 467.1 11.6 338 6126 0.00 2.10 0.00 0.000 6 0.000 0.029 2875 2269 1894 0 0 0 0 0 0 28.83 26.39 28.83

6426 0.40 316.2 437.5 8.0 354 6485 0.00 2.28 45.30 1.298 4 0.000 0.046 2874 3651 1681 0 0 0 0 1 0 28.83 25.27 24.30

6588 0.40 316.2 419.3 12.6 362 6594 0.00 2.12 0.00 0.000 6 0.000 0.026 2874 2252 1685 0 0 0 0 0 0 28.83 25.93 28.83

6911 0.40 316.2 382.4 11.4 378 6913 0.00 0.00 0.00 0.000 6 0.000 0.000 2874 2251 1683 0 0 0 0 0 0 28.83 28.83 28.83

7215 0.41 316.2 351.4 10.0 393 7220 0.00 2.17 0.00 0.000 4 0.000 0.044 2875 3660 1682 0 0 0 0 0 0 28.83 26.37 28.83

7347 0.41 316.2 337.1 11.4 399 7353 0.00 2.08 0.00 0.000 6 0.000 0.025 2874 2244 1682 0 0 0 0 0 0 28.83 26.51 28.83

7661 0.43 326.5 309.2 9.6 415 7686 0.00 2.20 13.00 0.858 4 0.000 0.043 2874 3661 1627 0 0 0 0 1 0 28.83 26.26 24.94

7755 0.45 326.5 300.0 11.0 419 7760 0.00 2.08 0.00 0.000 6 0.000 0.024 2874 2244 1626 0 0 0 0 0 0 28.83 26.38 28.83

8069 0.48 347.7 267.7 9.3 435 8098 0.00 2.22 17.40 0.848 4 0.000 0.042 2874 3659 1550 0 0 0 0 1 0 28.83 26.10 25.08

8141 0.50 356.2 261.5 9.7 438 8165 0.00 2.08 13.00 0.824 6 0.000 0.024 2874 2245 1503 0 0 0 0 1 0 28.83 26.23 24.78

8473 0.56 404.1 229.4 8.4 455 8522 0.12 2.25 42.50 0.711 4 0.084 0.041 2954 3658 1314 0 0 0 0 0 0 26.37 25.65 25.08

8544 0.56 404.1 221.6 11.4 458 8551 0.15 2.10 0.00 0.000 6 0.149 0.025 2923 2255 1308 0 0 0 0 0 0 25.66 25.84 28.83

8859 0.56 404.1 180.9 10.7 474 8864 0.00 2.17 0.00 0.000 4 0.000 0.044 2923 3652 1305 0 0 0 0 0 0 28.83 26.04 28.83

8906 0.57 404.1 176.0 10.7 476 8911 0.00 2.05 0.00 0.000 6 0.000 0.024 2923 2246 1303 0 0 0 0 0 0 28.83 26.33 28.83

9224 0.62 453.5 149.1 8.3 492 9273 0.00 2.10 41.42 0.649 4 0.000 0.034 2923 858 1108 0 0 0 0 0 0 28.83 25.84 25.27

9312 0.69 521.1 142.8 7.7 496 9380 0.12 2.10 58.17 0.614 6 0.078 0.026 2997 2264 831 0 0 0 0 0 0 25.98 25.98 24.89

9687 0.69 521.1 90.8 13.9 515 9693 0.12 2.12 0.00 0.000 4 0.133 0.041 2956 3656 821 0 0 0 0 0 0 26.11 26.15 28.83

9837 0.77 572.8 78.3 8.2 522 9862 0.00 2.05 17.95 0.295 6 0.000 0.021 2955 2236 631 0 0 0 0 0 0 28.83 26.36 25.68

10175 0.93 714.1 56.8 5.1 539 10200 0.20 2.03 17.62 0.247 4 0.057 0.030 3071 854 458 0 0 0 0 0 0 26.47 26.29 25.84

10249 0.96 714.1 48.1 12.2 543 10257 0.00 2.08 1.23 0.188 6 0.000 0.026 3071 2260 456 0 0 0 0 0 0 28.83 26.34 26.07

10504 end climb: SURFACE_DEPTH_REACHED

state 10504 begin surface coast

10520 end surface coast: CONTROL_FINISHED_OK

state 10521 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	38	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	77	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	50	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	-968536.5	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	211012,081136,2217.948,12109.360,30,1.0,30,-3.2	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211012,081740,2217.929,12109.189,4,1.0,5,-3.2	MHEAD_RNG_PITCHd_Wd	64.5,89214,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	655

FINISH	0.8,1.011057	_10V_AH	10.0,8.108
SM_CCo	10598,0.00,0.000,0,0,466,613.74	FG_AHR_24Vo	0.000
SM_GC	1.50,7.35,0.00,0.00,0.021,0.000,0.000,101,2261,466,-8.12,-0.40,613.74,0,0,0,0,0,0,26.50,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2209.02,12107.01,211012,050501	MEM	323808
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	20094,582
HUMID	52.87	CAP_FILE_SIZE	132942,0
INTERNAL_PRESSURE	9.42419	CFSIZE	260165632,246153216
TCM_TEMP	26.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	7	CURRENT	0.149,295.5,1
ALTIM_BOTTOM_PING	550.7,7.8	GPS	211012,111606,2219.119,12109.920,36,1.3,36,-3.2
_24V_AH	24.3,15.140

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	229	110.84	nil	0	0	0.00
Roll_motor	88	48	105.65	nil	0	0	0.00
VBD_pump_during_apogee	636	1298	20073.75	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	10541	15	4014.07
Iridium_during_xfer	211	124	642.23	nil	0	0	0.00
Transponder_ping	2	420	25.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.56
TT8	1732	14	254.85
LPSleep	6703	2	146.81
TT8_Active	682	14	100.45
TT8_Sampling	1599	37	606.60
TT8_CF8	252	44	112.62
TT8_Kalman	0	0	0.00
Analog_circuits	1703	16	272.55
GPS_charging	0	0	0.00
Compass	1329	8	109.54
RAFOS	0	0	0.00
Transponder	11	30	3.39

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	96	0.00	0.00	-75.55	0.000	2	0.000	0.000	113	2265	2509	0	0	0	0	0	0	28.83	28.83	28.83
99	-0.47	-195.5	3.1	-5.1	13	144	9.68	2.10	-28.75	0.000	4	0.230	0.044	2584	879	3767	0	0	0	0	0	0	25.79	26.26	26.55
217	-0.50	-195.5	18.7	-12.0	34	224	0.00	2.05	0.00	0.000	6	0.000	0.030	2585	2266	3767	0	0	0	0	0	0	28.83	26.29	28.83
532	-0.50	-195.5	69.8	-15.8	63	538	0.00	2.15	0.00	0.000	4	0.000	0.047	2585	3676	3768	0	0	0	0	0	0	28.83	26.41	28.83
596	-0.52	-195.5	78.6	-14.2	66	602	0.00	2.00	0.00	0.000	6	0.000	0.021	2584	2287	3768	0	0	0	0	0	0	28.83	26.53	28.83
921	-0.60	-195.5	102.8	-6.9	82	926	0.12	2.05	0.00	0.000	4	0.078	0.032	2495	871	3769	0	0	0	0	0	0	26.65	26.56	28.83
948	-0.66	-195.5	105.3	-7.8	83	955	0.12	2.08	0.00	0.000	6	0.142	0.036	2531	2269	3769	0	0	0	0	0	0	26.36	26.16	28.83
1269	-0.67	-195.5	144.8	-13.3	99	1274	0.00	2.15	0.00	0.000	4	0.000	0.047	2531	3696	3770	0	0	0	0	0	0	28.83	26.56	28.83
1308	-0.69	-195.5	147.6	-13.0	100	1315	0.00	2.05	0.00	0.000	6	0.000	0.020	2531	2261	3770	0	0	0	0	0	0	28.83	26.67	28.83
1613	-0.74	-195.5	177.5	-9.2	116	1614	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2260	3770	0	0	0	0	0	0	28.83	28.83	28.83
1914	-0.80	-195.5	201.5	-7.7	131	1921	0.12	2.17	0.00	0.000	4	0.079	0.046	2440	3678	3769	0	0	0	0	0	0	26.77	26.59	28.83
2014	-0.80	-195.5	212.3	-12.5	135	2022	0.15	2.00	0.00	0.000	6	0.142	0.021	2483	2272	3769	0	0	0	0	0	0	26.47	26.72	28.83
2319	-0.82	-195.5	249.5	-10.5	151	2320	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2271	3769	0	0	0	0	0	0	28.83	28.83	28.83
2621	-0.83	-195.5	283.0	-11.5	166	2626	0.00	2.17	0.00	0.000	4	0.000	0.048	2482	3678	3767	0	0	0	0	0	0	28.83	26.60	28.83
2659	-0.85	-195.5	285.9	-11.7	167	2665	0.00	2.00	0.00	0.000	6	0.000	0.021	2482	2272	3767	0	0	0	0	0	0	28.83	26.74	28.83
2965	-0.88	-195.5	316.4	-9.3	183	2970	0.00	2.17	0.00	0.000	4	0.000	0.049	2482	3683	3765	0	0	0	0	0	0	28.83	26.60	28.83
3009	-0.90	-195.5	320.8	-9.9	185	3015	0.00	2.00	0.00	0.000	6	0.000	0.021	2482	2278	3765	0	0	0	0	0	0	28.83	26.74	28.83
3333	-0.93	-195.5	351.3	-8.4	201	3335	0.12	0.00	0.00	0.000	6	0.082	0.000	2411	2278	3763	0	0	0	0	0	0	26.80	28.83	28.83
3635	-0.90	-195.5	390.1	-14.0	216	3641	0.12	2.17	0.00	0.000	4	0.157	0.047	2446	3683	3761	0	0	0	0	0	0	26.53	26.60	28.83
3702	-0.90	-195.5	398.4	-12.9	219	3709	0.00	2.03	0.00	0.000	6	0.000	0.022	2446	2268	3761	0	0	0	0	0	0	28.83	26.74	28.83
4021	-0.90	-195.5	436.9	-11.0	235	4022	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	2268	3758	0	0	0	0	0	0	28.83	28.83	28.83
4323	-0.90	-195.5	471.5	-12.8	250	4329	0.00	2.17	0.00	0.000	4	0.000	0.049	2446	3679	3756	0	0	0	0	0	0	28.83	26.62	28.83
4350	-0.90	-195.5	474.8	-12.9	251	4356	0.00	2.03	-0.08	0.000	6	0.000	0.022	2447	2244	3779	0	0	0	0	0	0	28.83	26.77	25.78
4669	-0.92	-195.5	517.7	-12.4	267	4670	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	2244	3778	0	0	0	0	0	0	28.83	28.83	28.83
4952	end dive: BOTTOM_OBSTACLE_DETECTED
state	4952	begin apogee
4958	-0.20	0.0	550.7	-11.6	281	5122	0.65	0.00	156.48	0.902	6	0.106	0.000	2670	2242	2961	0	0	0	0	0	0	26.41	28.83	24.46
5124	end apogee: CONTROL_FINISHED_OK
state	5124	begin climb
5127	0.47	195.5	561.0	0.0	289	5299	0.57	2.38	160.60	0.864	4	0.044	0.044	2900	3653	2159	0	0	0	0	0	0	25.26	24.96	24.30
5327	0.43	256.8	556.4	7.9	299	5386	0.00	2.12	51.65	0.850	6	0.000	0.025	2909	2263	1913	0	0	0	0	0	0	28.83	25.42	24.35
5695	0.40	256.8	510.4	11.5	318	5701	0.12	2.20	0.00	0.000	4	0.151	0.044	2869	3663	1899	0	0	0	0	0	0	25.98	26.07	28.83
5768	0.38	256.8	503.6	10.7	321	5774	0.00	2.10	0.00	0.000	6	0.000	0.025	2874	2248	1897	0	0	0	0	0	0	28.83	26.22	28.83
6082	0.38	256.8	469.7	11.7	337	6088	0.00	2.08	0.00	0.000	4	0.000	0.036	2875	855	1896	0	0	0	0	0	0	28.83	26.36	28.83
6120	0.38	256.8	467.1	11.6	338	6126	0.00	2.10	0.00	0.000	6	0.000	0.029	2875	2269	1894	0	0	0	0	0	0	28.83	26.39	28.83
6426	0.40	316.2	437.5	8.0	354	6485	0.00	2.28	45.30	1.298	4	0.000	0.046	2874	3651	1681	0	0	0	0	1	0	28.83	25.27	24.30
6588	0.40	316.2	419.3	12.6	362	6594	0.00	2.12	0.00	0.000	6	0.000	0.026	2874	2252	1685	0	0	0	0	0	0	28.83	25.93	28.83
6911	0.40	316.2	382.4	11.4	378	6913	0.00	0.00	0.00	0.000	6	0.000	0.000	2874	2251	1683	0	0	0	0	0	0	28.83	28.83	28.83
7215	0.41	316.2	351.4	10.0	393	7220	0.00	2.17	0.00	0.000	4	0.000	0.044	2875	3660	1682	0	0	0	0	0	0	28.83	26.37	28.83
7347	0.41	316.2	337.1	11.4	399	7353	0.00	2.08	0.00	0.000	6	0.000	0.025	2874	2244	1682	0	0	0	0	0	0	28.83	26.51	28.83
7661	0.43	326.5	309.2	9.6	415	7686	0.00	2.20	13.00	0.858	4	0.000	0.043	2874	3661	1627	0	0	0	0	1	0	28.83	26.26	24.94
7755	0.45	326.5	300.0	11.0	419	7760	0.00	2.08	0.00	0.000	6	0.000	0.024	2874	2244	1626	0	0	0	0	0	0	28.83	26.38	28.83
8069	0.48	347.7	267.7	9.3	435	8098	0.00	2.22	17.40	0.848	4	0.000	0.042	2874	3659	1550	0	0	0	0	1	0	28.83	26.10	25.08
8141	0.50	356.2	261.5	9.7	438	8165	0.00	2.08	13.00	0.824	6	0.000	0.024	2874	2245	1503	0	0	0	0	1	0	28.83	26.23	24.78
8473	0.56	404.1	229.4	8.4	455	8522	0.12	2.25	42.50	0.711	4	0.084	0.041	2954	3658	1314	0	0	0	0	0	0	26.37	25.65	25.08
8544	0.56	404.1	221.6	11.4	458	8551	0.15	2.10	0.00	0.000	6	0.149	0.025	2923	2255	1308	0	0	0	0	0	0	25.66	25.84	28.83
8859	0.56	404.1	180.9	10.7	474	8864	0.00	2.17	0.00	0.000	4	0.000	0.044	2923	3652	1305	0	0	0	0	0	0	28.83	26.04	28.83
8906	0.57	404.1	176.0	10.7	476	8911	0.00	2.05	0.00	0.000	6	0.000	0.024	2923	2246	1303	0	0	0	0	0	0	28.83	26.33	28.83
9224	0.62	453.5	149.1	8.3	492	9273	0.00	2.10	41.42	0.649	4	0.000	0.034	2923	858	1108	0	0	0	0	0	0	28.83	25.84	25.27
9312	0.69	521.1	142.8	7.7	496	9380	0.12	2.10	58.17	0.614	6	0.078	0.026	2997	2264	831	0	0	0	0	0	0	25.98	25.98	24.89
9687	0.69	521.1	90.8	13.9	515	9693	0.12	2.12	0.00	0.000	4	0.133	0.041	2956	3656	821	0	0	0	0	0	0	26.11	26.15	28.83
9837	0.77	572.8	78.3	8.2	522	9862	0.00	2.05	17.95	0.295	6	0.000	0.021	2955	2236	631	0	0	0	0	0	0	28.83	26.36	25.68
10175	0.93	714.1	56.8	5.1	539	10200	0.20	2.03	17.62	0.247	4	0.057	0.030	3071	854	458	0	0	0	0	0	0	26.47	26.29	25.84
10249	0.96	714.1	48.1	12.2	543	10257	0.00	2.08	1.23	0.188	6	0.000	0.026	3071	2260	456	0	0	0	0	0	0	28.83	26.34	26.07
10504	end climb: SURFACE_DEPTH_REACHED
state	10504	begin surface coast
10520	end surface coast: CONTROL_FINISHED_OK
state	10521	begin surface