Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MAX 3764 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 16 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 41 ESCAPE_HEADING 0 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 3100 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 1010 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 75 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 554.9259 R_STBD_OVSHOOT 70 XPDR_VALID 0

D_BOOST 120 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 4 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 460 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2763 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 350 CALL_WAIT 60 PITCH_VBD_SHIFT 0.003 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 5 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 -7 T_GPS_CHARGE -974746.62 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 150 MINV_24V 22 SIM_W 0

MAX_BUOY 180 PITCH_MAX 3944 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3085 FG_AHR_10V 0 SEABIRD_T_G 0.0043557216

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062581268

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PHONE_SUPPLY -2 SEABIRD_T_I 2.3904395e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -15.330984 SEABIRD_T_J 2.614597e-06

MASS 52152 PITCH_GAIN 27 PRESSURE_SLOPE 0.0001158971 SEABIRD_C_G -10.14994

MASS_COMP 0 PITCH_TIMEOUT 19 AD7714Ch0Gain 128 SEABIRD_C_H 1.1477706

NAV_MODE 0 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0022030354

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00024289287

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 187 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_T_J 2.614597e-06

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SM_CC 554.9259

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.0031256729 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 27 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.003 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 0.0038360001 PRESSURE_SLOPE 0.0001158971 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -15.330984 T_BOOST 4

CALL_WAIT 60 HD_C 9.8500004e-06 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 5

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -974746.62

COMPASS2_DEVICE -1 ID 167 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_MISSION 350

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 2

C_PITCH 3085 LOGGERDEVICE1 53 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_CLIMB 3100 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_DIVE 1900 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_VBD 2763 LOGGERDEVICE4 -1 ROLL_DEG 40 UNCOM_BLEED 50

DBDW 0 LOGGERS 1 ROLL_MAX 3764 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 52152 ROLL_MAXERRORS 2 USE_BATHY -7

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 187 USE_ICE 0

DEVICE1 -1 MAX_BUOY 180 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_PORT_OVSHOOT 75 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 70 VBD_DBAND 2

DEVICE4 -1 MISSION 16 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_MIN 460

DIVE 41 NOCOMM_ACTION 163 SEABIRD_C_G -10.14994 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1010 N_DIVES 0 SEABIRD_C_H 1.1477706 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 4 SEABIRD_C_I -0.0022030354 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_J 0.00024289287 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_G 0.0043557216 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_H 0.00062581268 XPDR_INHIBIT 90

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_I 2.3904395e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 260613,064930,2200.166,12023.176,43,1.4,43,-3.1 TGT_NAME T1

_CALLS 1 TGT_LATLONG 2200.000,12024.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260613,065700,2200.082,12023.200,19,1.9,19,-3.1 MHEAD_RNG_PITCHd_Wd 99.4,1382,-27.8,-10.000,-30.00,969

SPEED_LIMITS 0.173,0.282 D_GRID 948

Post-dive calculations and measurements:

FREEZE 63.20,25.265,-1.909,0,1,0 _24V_AH 24.0,4.779

SM_CCo 9965,186.90,0.273,1,0,457,564.93 _10V_AH 10.3,4.029

SM_GC 1.59,8.85,1.75,0.00,0.029,0.024,0.000,141,1931,457,-9.15,2.26,565.66,0,0,0,0,0,0,25.97,26.00,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2150.42,12022.75,260613,030354 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 324516

HUMID 55.43 DATA_FILE_SIZE 16746,447

INTERNAL_PRESSURE 9.43396 CAP_FILE_SIZE 121041,0

TCM_TEMP 23.60 CFSIZE 260034560,246407168

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

SC_FREEKB 7700448 GPS 260613,095123,2159.926,12024.238,44,1.2,44,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 237 125.33 nil 0 0 0.00

Roll_motor 83 45 91.60 nil 0 0 0.00

VBD_pump_during_apogee 238 1155 6612.99 nil 0 0 0.00

VBD_pump_during_surface 186 273 1225.04 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 9963 16 3911.39

Iridium_during_xfer 252 117 710.07 nil 0 0 0.00

Transponder_ping 0 420 2.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 50 10.54

TT8 1656 13 238.19

LPSleep 6538 2 147.50

TT8_Active 547 13 78.72

TT8_Sampling 1672 40 692.09

TT8_CF8 382 47 187.62

TT8_Kalman 0 0 0.00

Analog_circuits 1556 16 256.52

GPS_charging 0 0 0.00

Compass 1391 5 71.66

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.22 -63.1 109 1936 436 558 0.0 0.0 0 110 0.00 0.00 -82.07 0.000 16386 0.000 0.000 109 1936 2507 2488 2527 0 0 0 0 0 0 28.83 28.83 28.83

116 -1.40 -121.8 108 1936 2487 2528 3.1 -3.8 15 147 9.95 2.15 -14.60 0.000 18948 0.238 0.042 2630 510 3263 3256 3270 0 0 0 0 0 0 25.96 26.21 26.46

242 -1.40 -121.8 2629 510 3255 3272 51.4 -45.7 30 249 0.00 2.00 0.00 0.000 1030 0.000 0.018 2622 1902 3264 3256 3272 0 0 0 0 0 0 28.83 26.31 28.83

548 -1.40 -121.8 2622 1904 3257 3274 153.5 -30.6 46 554 0.00 2.03 0.00 0.000 260 0.000 0.031 2611 3299 3265 3257 3273 0 0 0 0 0 0 28.83 26.44 28.83

697 -1.40 -121.8 1584 3297 3217 3268 188.5 -23.0 53 702 0.00 1.98 0.00 0.000 1030 0.000 0.019 2612 1910 3265 3257 3274 0 0 0 0 0 0 28.83 26.51 28.83

1016 -1.40 -121.8 2611 1910 3258 3274 260.8 -22.4 69 1021 0.00 2.03 0.00 0.000 516 0.000 0.032 2611 506 3266 3258 3274 0 0 0 0 0 0 28.83 26.56 28.83

1065 -1.40 -121.8 2611 506 3259 3274 270.5 -22.5 71 1071 0.12 1.98 0.00 0.000 3078 0.207 0.018 2629 1901 3266 3258 3274 0 0 0 0 0 0 26.41 26.59 28.83

1385 -1.40 -121.8 2629 1901 3257 3273 334.4 -20.7 87 1390 0.00 2.03 0.00 0.000 260 0.000 0.032 2621 3303 3265 3258 3273 0 0 0 0 0 0 28.83 26.62 28.83

1464 -1.40 -121.8 2620 3303 3258 3271 349.0 -22.4 90 1471 0.00 2.00 0.00 0.000 1030 0.000 0.019 2621 1894 3264 3257 3271 0 0 0 0 0 0 28.83 26.65 28.83

1770 -1.40 -121.8 2620 1892 3261 3264 422.6 -22.3 106 1775 0.00 2.05 0.00 0.000 260 0.000 0.031 2611 3298 3262 3261 3263 0 0 0 0 0 0 28.83 26.65 28.83

1823 -1.40 -121.8 2610 3298 3260 3263 432.1 -21.6 108 1829 0.00 2.00 0.00 0.000 1030 0.000 0.018 2611 1884 3262 3261 3263 0 0 0 0 0 0 28.83 26.68 28.83

2138 -1.40 -121.8 2610 1883 3260 3258 495.8 -19.2 124 2143 0.00 2.08 0.00 0.000 260 0.000 0.031 2601 3299 3259 3261 3258 0 0 0 0 0 0 28.83 26.67 28.83

2213 -1.40 -121.8 2601 3300 3261 3256 508.5 -19.6 127 2219 0.15 1.98 0.00 0.000 3078 0.203 0.018 2635 1894 3258 3261 3256 0 0 0 0 0 0 26.52 26.71 28.83

2528 -1.40 -121.8 2635 1895 3260 3250 568.8 -17.4 143 2533 0.00 2.05 0.00 0.000 260 0.000 0.032 2627 3290 3255 3261 3250 0 0 0 0 0 0 28.83 26.69 28.83

2669 -1.40 -121.8 2627 3291 3261 3247 590.1 -17.1 149 2675 0.00 1.98 0.00 0.000 1030 0.000 0.018 2627 1895 3254 3261 3247 0 0 0 0 0 0 28.83 26.73 28.83

2987 -1.40 -121.8 2627 1894 3260 3243 648.5 -17.5 161 2993 0.00 2.05 0.00 0.000 260 0.000 0.033 2618 3292 3251 3261 3242 0 0 0 0 0 0 28.83 26.71 28.83

3132 -1.40 -121.8 2617 3293 3261 3239 672.0 -18.5 165 3137 0.00 1.98 0.00 0.000 1030 0.000 0.019 2619 1901 3249 3260 3239 0 0 0 0 0 0 28.83 26.74 28.83

3447 -1.40 -121.8 2617 1901 3260 3234 733.5 -18.7 176 3452 0.00 2.05 0.00 0.000 260 0.000 0.034 2610 3290 3247 3261 3234 0 0 0 0 0 0 28.83 26.72 28.83

3520 -1.40 -121.8 2609 3290 3260 3233 746.5 -19.3 178 3526 0.00 1.98 0.00 0.000 1030 0.000 0.019 2610 1899 3247 3261 3233 0 0 0 0 0 0 28.83 26.75 28.83

3848 -1.40 -121.8 2610 1899 3260 3228 808.4 -17.6 189 3853 0.00 2.05 0.00 0.000 260 0.000 0.034 2601 3287 3244 3261 3227 0 0 0 0 0 0 28.83 26.72 28.83

3896 -1.40 -121.8 2601 3287 3260 3227 814.7 -17.1 190 3902 0.15 1.98 0.00 0.000 3078 0.202 0.019 2636 1890 3243 3260 3226 0 0 0 0 0 0 26.56 26.75 28.83

4220 -1.40 -121.8 2635 1890 3260 3222 866.4 -15.5 201 4221 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 1890 3241 3260 3222 0 0 0 0 0 0 28.83 28.83 28.83

4517 -1.40 -121.8 2635 1890 3259 3219 906.6 -13.2 211 4522 0.00 2.08 0.00 0.000 260 0.000 0.034 2628 3292 3238 3258 3219 0 0 0 0 0 0 28.83 26.72 28.83

4662 -1.40 -121.8 2628 3292 3257 3220 925.3 -15.0 215 4667 0.00 1.98 0.00 0.000 1030 0.000 0.019 2628 1898 3238 3257 3219 0 0 0 0 0 0 28.83 26.77 28.83

4913 end dive: NO_VERTICAL_VELOCITY

state 4913 begin apogee

4923 -0.19 0.0 2628 3086 3257 3217 927.6 0.0 224 5035 1.08 0.00 104.30 1.156 10246 0.085 0.000 3020 3086 2754 2811 2697 0 0 0 0 0 0 26.67 28.83 24.26

5040 end apogee: CONTROL_FINISHED_OK

state 5040 begin climb

5044 1.40 121.8 3020 3086 2808 2687 927.4 0.0 228 5168 1.38 2.22 110.60 1.109 11012 0.041 0.028 3549 1720 2252 2325 2180 0 0 0 0 0 0 25.14 24.73 24.01

5186 1.40 121.8 3549 1720 2317 2167 914.2 14.3 232 5193 0.00 2.20 0.00 0.000 1030 0.000 0.034 3549 3097 2241 2317 2166 0 0 0 0 0 0 28.83 25.10 28.83

5492 1.40 121.8 3550 3097 2317 2153 827.9 25.9 243 5497 0.00 1.02 0.00 0.000 260 0.000 0.046 3549 3762 2235 2317 2153 0 0 0 0 0 0 28.83 25.98 28.83

5728 1.40 121.8 3549 3762 2313 2151 770.0 25.5 250 5734 0.00 0.95 0.00 0.000 1030 0.000 0.028 3554 3107 2231 2313 2150 0 0 0 0 0 0 28.83 26.25 28.83

6043 1.40 121.8 3554 3107 2312 2147 692.1 23.8 261 6048 0.00 1.02 0.00 0.000 260 0.000 0.044 3554 3766 2229 2313 2146 0 0 0 0 0 0 28.83 26.34 28.83

6152 1.40 121.8 3554 3766 2312 2146 666.8 26.1 264 6157 0.00 0.98 0.00 0.000 1030 0.000 0.028 3559 3091 2229 2312 2146 0 0 0 0 0 0 28.83 26.43 28.83

6474 1.40 121.8 3559 3091 2312 2143 584.8 22.1 276 6480 0.00 2.05 0.00 0.000 516 0.000 0.027 3569 1696 2228 2313 2143 0 0 0 0 0 0 28.83 26.48 28.83

6508 1.40 121.8 3569 1696 2312 2143 578.9 21.7 277 6514 0.15 2.12 0.00 0.000 5126 0.211 0.033 3535 3111 2227 2313 2142 0 0 0 0 0 0 26.28 26.47 28.83

6824 1.40 121.8 3535 3111 2311 2140 513.3 20.2 293 6829 0.00 2.08 0.00 0.000 516 0.000 0.025 3544 1696 2227 2313 2141 0 0 0 0 0 0 28.83 26.53 28.83

7060 1.40 121.8 3544 1695 2312 2140 468.3 20.3 304 7065 0.00 2.10 0.00 0.000 1030 0.000 0.033 3544 3099 2226 2313 2139 0 0 0 0 0 0 28.83 26.55 28.83

7374 1.40 121.8 3544 3100 2312 2138 398.2 21.3 320 7380 0.00 2.05 0.00 0.000 516 0.000 0.026 3554 1693 2225 2313 2138 0 0 0 0 0 0 28.83 26.59 28.83

7610 1.40 121.8 3554 1692 2312 2137 356.7 17.9 331 7616 0.00 2.10 0.00 0.000 1030 0.000 0.032 3554 3103 2225 2313 2137 0 0 0 0 0 0 28.83 26.60 28.83

7925 1.40 121.8 3554 3102 2312 2137 301.9 17.5 347 7930 0.00 2.05 0.00 0.000 516 0.000 0.025 3564 1697 2223 2312 2135 0 0 0 0 0 0 28.83 26.63 28.83

8162 1.40 121.8 3563 1697 2312 2134 261.8 17.9 358 8168 0.12 2.10 0.00 0.000 5126 0.216 0.031 3537 3102 2224 2313 2135 0 0 0 0 0 0 26.45 26.63 28.83

8477 1.40 121.8 3537 3103 2313 2135 207.0 15.0 374 8483 0.00 2.05 0.00 0.000 516 0.000 0.024 3546 1705 2223 2313 2134 0 0 0 0 0 0 28.83 26.67 28.83

8713 1.40 121.8 3546 1705 2313 2134 176.4 13.6 385 8718 0.00 2.08 0.00 0.000 1030 0.000 0.032 3546 3100 2223 2312 2134 0 0 0 0 0 0 28.83 26.65 28.83

9028 1.40 121.8 3546 3100 2314 2134 127.6 15.4 401 9033 0.00 2.03 0.00 0.000 516 0.000 0.024 3556 1700 2223 2313 2134 0 0 0 0 0 0 28.83 26.69 28.83

9265 1.41 125.4 3555 1700 2313 2134 103.5 9.6 412 9270 0.00 2.08 0.00 0.000 1030 0.000 0.031 3555 3104 2223 2313 2134 0 0 0 0 0 0 28.83 26.67 28.83

9579 1.54 169.0 3554 3104 2313 2134 84.0 5.4 428 9602 0.00 0.93 18.12 0.281 8452 0.000 0.039 3555 3764 2073 2155 1991 0 0 0 0 0 0 28.83 26.56 26.27

9652 1.57 178.4 3555 3764 2156 2006 77.6 9.0 431 9663 0.00 0.95 5.35 0.257 9222 0.000 0.025 3561 3083 2035 2116 1954 0 0 0 0 0 0 28.83 26.64 26.27

9960 end climb: NO_VERTICAL_VELOCITY

state 9960 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MAX	3764	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	16	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	41	ESCAPE_HEADING	0	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	3100	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	1010	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	75	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	554.9259	R_STBD_OVSHOOT	70	XPDR_VALID	0
D_BOOST	120	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	4	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	460	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2763	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	350	CALL_WAIT	60	PITCH_VBD_SHIFT	0.003	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	5	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	-7	T_GPS_CHARGE	-974746.62	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	150	MINV_24V	22	SIM_W	0
MAX_BUOY	180	PITCH_MAX	3944	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3085	FG_AHR_10V	0	SEABIRD_T_G	0.0043557216
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062581268
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PHONE_SUPPLY	-2	SEABIRD_T_I	2.3904395e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-15.330984	SEABIRD_T_J	2.614597e-06
MASS	52152	PITCH_GAIN	27	PRESSURE_SLOPE	0.0001158971	SEABIRD_C_G	-10.14994
MASS_COMP	0	PITCH_TIMEOUT	19	AD7714Ch0Gain	128	SEABIRD_C_H	1.1477706
NAV_MODE	0	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0022030354
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00024289287
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	187	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0

GPS1	260613,064930,2200.166,12023.176,43,1.4,43,-3.1	TGT_NAME	T1
_CALLS	1	TGT_LATLONG	2200.000,12024.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260613,065700,2200.082,12023.200,19,1.9,19,-3.1	MHEAD_RNG_PITCHd_Wd	99.4,1382,-27.8,-10.000,-30.00,969
SPEED_LIMITS	0.173,0.282	D_GRID	948

FREEZE	63.20,25.265,-1.909,0,1,0	_24V_AH	24.0,4.779
SM_CCo	9965,186.90,0.273,1,0,457,564.93	_10V_AH	10.3,4.029
SM_GC	1.59,8.85,1.75,0.00,0.029,0.024,0.000,141,1931,457,-9.15,2.26,565.66,0,0,0,0,0,0,25.97,26.00,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2150.42,12022.75,260613,030354	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	324516
HUMID	55.43	DATA_FILE_SIZE	16746,447
INTERNAL_PRESSURE	9.43396	CAP_FILE_SIZE	121041,0
TCM_TEMP	23.60	CFSIZE	260034560,246407168
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
SC_FREEKB	7700448	GPS	260613,095123,2159.926,12024.238,44,1.2,44,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	237	125.33	nil	0	0	0.00
Roll_motor	83	45	91.60	nil	0	0	0.00
VBD_pump_during_apogee	238	1155	6612.99	nil	0	0	0.00
VBD_pump_during_surface	186	273	1225.04	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	9963	16	3911.39
Iridium_during_xfer	252	117	710.07	nil	0	0	0.00
Transponder_ping	0	420	2.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	50	10.54
TT8	1656	13	238.19
LPSleep	6538	2	147.50
TT8_Active	547	13	78.72
TT8_Sampling	1672	40	692.09
TT8_CF8	382	47	187.62
TT8_Kalman	0	0	0.00
Analog_circuits	1556	16	256.52
GPS_charging	0	0	0.00
Compass	1391	5	71.66
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.22	-63.1	109	1936	436	558	0.0	0.0	0	110	0.00	0.00	-82.07	0.000	16386	0.000	0.000	109	1936	2507	2488	2527	0	0	0	0	0	0	28.83	28.83	28.83
116	-1.40	-121.8	108	1936	2487	2528	3.1	-3.8	15	147	9.95	2.15	-14.60	0.000	18948	0.238	0.042	2630	510	3263	3256	3270	0	0	0	0	0	0	25.96	26.21	26.46
242	-1.40	-121.8	2629	510	3255	3272	51.4	-45.7	30	249	0.00	2.00	0.00	0.000	1030	0.000	0.018	2622	1902	3264	3256	3272	0	0	0	0	0	0	28.83	26.31	28.83
548	-1.40	-121.8	2622	1904	3257	3274	153.5	-30.6	46	554	0.00	2.03	0.00	0.000	260	0.000	0.031	2611	3299	3265	3257	3273	0	0	0	0	0	0	28.83	26.44	28.83
697	-1.40	-121.8	1584	3297	3217	3268	188.5	-23.0	53	702	0.00	1.98	0.00	0.000	1030	0.000	0.019	2612	1910	3265	3257	3274	0	0	0	0	0	0	28.83	26.51	28.83
1016	-1.40	-121.8	2611	1910	3258	3274	260.8	-22.4	69	1021	0.00	2.03	0.00	0.000	516	0.000	0.032	2611	506	3266	3258	3274	0	0	0	0	0	0	28.83	26.56	28.83
1065	-1.40	-121.8	2611	506	3259	3274	270.5	-22.5	71	1071	0.12	1.98	0.00	0.000	3078	0.207	0.018	2629	1901	3266	3258	3274	0	0	0	0	0	0	26.41	26.59	28.83
1385	-1.40	-121.8	2629	1901	3257	3273	334.4	-20.7	87	1390	0.00	2.03	0.00	0.000	260	0.000	0.032	2621	3303	3265	3258	3273	0	0	0	0	0	0	28.83	26.62	28.83
1464	-1.40	-121.8	2620	3303	3258	3271	349.0	-22.4	90	1471	0.00	2.00	0.00	0.000	1030	0.000	0.019	2621	1894	3264	3257	3271	0	0	0	0	0	0	28.83	26.65	28.83
1770	-1.40	-121.8	2620	1892	3261	3264	422.6	-22.3	106	1775	0.00	2.05	0.00	0.000	260	0.000	0.031	2611	3298	3262	3261	3263	0	0	0	0	0	0	28.83	26.65	28.83
1823	-1.40	-121.8	2610	3298	3260	3263	432.1	-21.6	108	1829	0.00	2.00	0.00	0.000	1030	0.000	0.018	2611	1884	3262	3261	3263	0	0	0	0	0	0	28.83	26.68	28.83
2138	-1.40	-121.8	2610	1883	3260	3258	495.8	-19.2	124	2143	0.00	2.08	0.00	0.000	260	0.000	0.031	2601	3299	3259	3261	3258	0	0	0	0	0	0	28.83	26.67	28.83
2213	-1.40	-121.8	2601	3300	3261	3256	508.5	-19.6	127	2219	0.15	1.98	0.00	0.000	3078	0.203	0.018	2635	1894	3258	3261	3256	0	0	0	0	0	0	26.52	26.71	28.83
2528	-1.40	-121.8	2635	1895	3260	3250	568.8	-17.4	143	2533	0.00	2.05	0.00	0.000	260	0.000	0.032	2627	3290	3255	3261	3250	0	0	0	0	0	0	28.83	26.69	28.83
2669	-1.40	-121.8	2627	3291	3261	3247	590.1	-17.1	149	2675	0.00	1.98	0.00	0.000	1030	0.000	0.018	2627	1895	3254	3261	3247	0	0	0	0	0	0	28.83	26.73	28.83
2987	-1.40	-121.8	2627	1894	3260	3243	648.5	-17.5	161	2993	0.00	2.05	0.00	0.000	260	0.000	0.033	2618	3292	3251	3261	3242	0	0	0	0	0	0	28.83	26.71	28.83
3132	-1.40	-121.8	2617	3293	3261	3239	672.0	-18.5	165	3137	0.00	1.98	0.00	0.000	1030	0.000	0.019	2619	1901	3249	3260	3239	0	0	0	0	0	0	28.83	26.74	28.83
3447	-1.40	-121.8	2617	1901	3260	3234	733.5	-18.7	176	3452	0.00	2.05	0.00	0.000	260	0.000	0.034	2610	3290	3247	3261	3234	0	0	0	0	0	0	28.83	26.72	28.83
3520	-1.40	-121.8	2609	3290	3260	3233	746.5	-19.3	178	3526	0.00	1.98	0.00	0.000	1030	0.000	0.019	2610	1899	3247	3261	3233	0	0	0	0	0	0	28.83	26.75	28.83
3848	-1.40	-121.8	2610	1899	3260	3228	808.4	-17.6	189	3853	0.00	2.05	0.00	0.000	260	0.000	0.034	2601	3287	3244	3261	3227	0	0	0	0	0	0	28.83	26.72	28.83
3896	-1.40	-121.8	2601	3287	3260	3227	814.7	-17.1	190	3902	0.15	1.98	0.00	0.000	3078	0.202	0.019	2636	1890	3243	3260	3226	0	0	0	0	0	0	26.56	26.75	28.83
4220	-1.40	-121.8	2635	1890	3260	3222	866.4	-15.5	201	4221	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	1890	3241	3260	3222	0	0	0	0	0	0	28.83	28.83	28.83
4517	-1.40	-121.8	2635	1890	3259	3219	906.6	-13.2	211	4522	0.00	2.08	0.00	0.000	260	0.000	0.034	2628	3292	3238	3258	3219	0	0	0	0	0	0	28.83	26.72	28.83
4662	-1.40	-121.8	2628	3292	3257	3220	925.3	-15.0	215	4667	0.00	1.98	0.00	0.000	1030	0.000	0.019	2628	1898	3238	3257	3219	0	0	0	0	0	0	28.83	26.77	28.83
4913	end dive: NO_VERTICAL_VELOCITY
state	4913	begin apogee
4923	-0.19	0.0	2628	3086	3257	3217	927.6	0.0	224	5035	1.08	0.00	104.30	1.156	10246	0.085	0.000	3020	3086	2754	2811	2697	0	0	0	0	0	0	26.67	28.83	24.26
5040	end apogee: CONTROL_FINISHED_OK
state	5040	begin climb
5044	1.40	121.8	3020	3086	2808	2687	927.4	0.0	228	5168	1.38	2.22	110.60	1.109	11012	0.041	0.028	3549	1720	2252	2325	2180	0	0	0	0	0	0	25.14	24.73	24.01
5186	1.40	121.8	3549	1720	2317	2167	914.2	14.3	232	5193	0.00	2.20	0.00	0.000	1030	0.000	0.034	3549	3097	2241	2317	2166	0	0	0	0	0	0	28.83	25.10	28.83
5492	1.40	121.8	3550	3097	2317	2153	827.9	25.9	243	5497	0.00	1.02	0.00	0.000	260	0.000	0.046	3549	3762	2235	2317	2153	0	0	0	0	0	0	28.83	25.98	28.83
5728	1.40	121.8	3549	3762	2313	2151	770.0	25.5	250	5734	0.00	0.95	0.00	0.000	1030	0.000	0.028	3554	3107	2231	2313	2150	0	0	0	0	0	0	28.83	26.25	28.83
6043	1.40	121.8	3554	3107	2312	2147	692.1	23.8	261	6048	0.00	1.02	0.00	0.000	260	0.000	0.044	3554	3766	2229	2313	2146	0	0	0	0	0	0	28.83	26.34	28.83
6152	1.40	121.8	3554	3766	2312	2146	666.8	26.1	264	6157	0.00	0.98	0.00	0.000	1030	0.000	0.028	3559	3091	2229	2312	2146	0	0	0	0	0	0	28.83	26.43	28.83
6474	1.40	121.8	3559	3091	2312	2143	584.8	22.1	276	6480	0.00	2.05	0.00	0.000	516	0.000	0.027	3569	1696	2228	2313	2143	0	0	0	0	0	0	28.83	26.48	28.83
6508	1.40	121.8	3569	1696	2312	2143	578.9	21.7	277	6514	0.15	2.12	0.00	0.000	5126	0.211	0.033	3535	3111	2227	2313	2142	0	0	0	0	0	0	26.28	26.47	28.83
6824	1.40	121.8	3535	3111	2311	2140	513.3	20.2	293	6829	0.00	2.08	0.00	0.000	516	0.000	0.025	3544	1696	2227	2313	2141	0	0	0	0	0	0	28.83	26.53	28.83
7060	1.40	121.8	3544	1695	2312	2140	468.3	20.3	304	7065	0.00	2.10	0.00	0.000	1030	0.000	0.033	3544	3099	2226	2313	2139	0	0	0	0	0	0	28.83	26.55	28.83
7374	1.40	121.8	3544	3100	2312	2138	398.2	21.3	320	7380	0.00	2.05	0.00	0.000	516	0.000	0.026	3554	1693	2225	2313	2138	0	0	0	0	0	0	28.83	26.59	28.83
7610	1.40	121.8	3554	1692	2312	2137	356.7	17.9	331	7616	0.00	2.10	0.00	0.000	1030	0.000	0.032	3554	3103	2225	2313	2137	0	0	0	0	0	0	28.83	26.60	28.83
7925	1.40	121.8	3554	3102	2312	2137	301.9	17.5	347	7930	0.00	2.05	0.00	0.000	516	0.000	0.025	3564	1697	2223	2312	2135	0	0	0	0	0	0	28.83	26.63	28.83
8162	1.40	121.8	3563	1697	2312	2134	261.8	17.9	358	8168	0.12	2.10	0.00	0.000	5126	0.216	0.031	3537	3102	2224	2313	2135	0	0	0	0	0	0	26.45	26.63	28.83
8477	1.40	121.8	3537	3103	2313	2135	207.0	15.0	374	8483	0.00	2.05	0.00	0.000	516	0.000	0.024	3546	1705	2223	2313	2134	0	0	0	0	0	0	28.83	26.67	28.83
8713	1.40	121.8	3546	1705	2313	2134	176.4	13.6	385	8718	0.00	2.08	0.00	0.000	1030	0.000	0.032	3546	3100	2223	2312	2134	0	0	0	0	0	0	28.83	26.65	28.83
9028	1.40	121.8	3546	3100	2314	2134	127.6	15.4	401	9033	0.00	2.03	0.00	0.000	516	0.000	0.024	3556	1700	2223	2313	2134	0	0	0	0	0	0	28.83	26.69	28.83
9265	1.41	125.4	3555	1700	2313	2134	103.5	9.6	412	9270	0.00	2.08	0.00	0.000	1030	0.000	0.031	3555	3104	2223	2313	2134	0	0	0	0	0	0	28.83	26.67	28.83
9579	1.54	169.0	3554	3104	2313	2134	84.0	5.4	428	9602	0.00	0.93	18.12	0.281	8452	0.000	0.039	3555	3764	2073	2155	1991	0	0	0	0	0	0	28.83	26.56	26.27
9652	1.57	178.4	3555	3764	2156	2006	77.6	9.0	431	9663	0.00	0.95	5.35	0.257	9222	0.000	0.025	3561	3083	2035	2116	1954	0	0	0	0	0	0	28.83	26.64	26.27
9960	end climb: NO_VERTICAL_VELOCITY
state	9960	begin surface