Glider dive log

OKMC Jun13 * SG167 * Dive index * Mission links * Dive 44 * 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 44 ESCAPE_HEADING 0 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 3300 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 38 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 554.9259 R_STBD_OVSHOOT 44 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 -974750.5 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 -974750.5

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 3300 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 38 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 R_STBD_OVSHOOT 44 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 44 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 260613,164928,2200.085,12023.907,45,1.5,45,-3.1 TGT_NAME T2

_CALLS 1 TGT_LATLONG 2154.000,12025.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260613,165806,2200.172,12024.047,39,1.0,39,-3.1 MHEAD_RNG_PITCHd_Wd 174.9,11547,-16.6,-10.000,-19.50,2680

SPEED_LIMITS 0.173,0.282 D_GRID 929

Post-dive calculations and measurements:

FINISH 0.8,1.008008 _24V_AH 23.4,5.127

SM_CCo 10128,118.28,0.128,0,0,497,555.11 _10V_AH 10.4,4.326

SM_GC 1.66,8.70,1.95,118.28,0.032,0.020,0.128,138,1941,497,-9.13,2.97,555.11,0,0,0,0,0,0,26.53,26.55,26.14 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2152.74,12015.55,260613,131336 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 324400

HUMID 49.25 DATA_FILE_SIZE 16781,490

INTERNAL_PRESSURE 9.45349 CAP_FILE_SIZE 122552,0

TCM_TEMP 25.70 CFSIZE 260034560,246177792

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

SC_FREEKB 7699296 GPS 260613,195037,2159.046,12023.775,30,1.7,30,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 244 127.20 nil 0 0 0.00

Roll_motor 77 49 90.67 nil 0 0 0.00

VBD_pump_during_apogee 354 1678 13919.97 nil 0 0 0.00

VBD_pump_during_surface 118 127 353.58 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 10121 7 1867.42

Iridium_during_xfer 296 114 797.09 nil 0 0 0.00

Transponder_ping 0 420 2.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 50 20.95

TT8 1588 13 230.58

LPSleep 6545 2 149.07

TT8_Active 569 13 82.68

TT8_Sampling 1653 40 690.76

TT8_CF8 410 47 203.51

TT8_Kalman 0 0 0.00

Analog_circuits 1605 16 267.18

GPS_charging 0 0 0.00

Compass 1289 5 67.07

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 -1.14 -175.2 111 1935 439 562 0.0 0.0 0 116 0.00 0.00 -87.53 0.000 16386 0.000 0.000 111 1935 2695 2676 2715 0 0 0 0 0 0 28.83 28.83 28.83

124 -1.14 -175.2 111 1935 2676 2716 3.9 -7.0 16 154 10.50 2.05 -12.35 0.000 18692 0.244 0.040 2700 3315 3479 3476 3483 0 0 0 0 0 0 25.89 26.15 26.39

250 -1.14 -175.2 2700 3315 3476 3484 50.7 -33.3 30 257 0.00 2.10 0.00 0.000 1030 0.000 0.025 2700 1888 3480 3476 3484 0 0 0 0 0 0 28.83 26.24 28.83

556 -1.14 -175.2 2700 1887 3479 3485 145.8 -29.1 46 561 0.00 2.10 0.00 0.000 260 0.000 0.029 2691 3320 3481 3478 3485 0 0 0 0 0 0 28.83 26.38 28.83

755 -1.14 -175.2 2692 3320 3478 3485 193.0 -25.6 55 762 0.00 2.05 0.00 0.000 1030 0.000 0.019 2691 1881 3481 3478 3485 0 0 0 0 0 0 28.83 26.48 28.83

1061 -1.14 -175.2 2690 1881 3478 3485 274.0 -22.8 71 1062 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 1881 3481 3478 3484 0 0 0 0 0 0 28.83 28.83 28.83

1364 -1.14 -175.2 2690 1881 3478 3485 340.9 -19.3 86 1369 0.00 2.00 0.00 0.000 516 0.000 0.034 2691 509 3480 3478 3483 0 0 0 0 0 0 28.83 26.57 28.83

1481 -1.14 -175.2 2690 509 3478 3482 361.7 -19.6 91 1487 0.15 2.00 0.00 0.000 3078 0.184 0.019 2718 1921 3479 3478 3481 0 0 0 0 0 0 26.45 26.62 28.83

1796 -1.14 -175.2 2718 1922 3481 3475 420.8 -17.7 107 1802 0.00 2.00 0.00 0.000 260 0.000 0.033 2710 3283 3478 3482 3474 0 0 0 0 0 0 28.83 26.61 28.83

1901 -1.14 -175.2 2710 3283 3482 3472 441.9 -20.6 112 1907 0.00 1.98 0.00 0.000 1030 0.000 0.018 2710 1897 3477 3482 3472 0 0 0 0 0 0 28.83 26.66 28.83

2226 -1.14 -175.2 2710 1896 3482 3466 514.6 -22.6 128 2228 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 1896 3473 3481 3466 0 0 0 0 0 0 28.83 28.83 28.83

2529 -1.14 -175.2 2710 1896 3481 3461 577.9 -18.8 143 2534 0.00 2.03 0.00 0.000 516 0.000 0.035 2710 510 3470 3481 3460 0 0 0 0 0 0 28.83 26.67 28.83

2578 -1.14 -175.2 2709 510 3481 3460 586.7 -18.8 145 2583 0.00 1.98 0.00 0.000 1030 0.000 0.021 2701 1900 3470 3481 3459 0 0 0 0 0 0 28.83 26.70 28.83

2901 -1.14 -175.2 2700 1900 3481 3453 637.3 -14.2 157 2906 0.00 2.03 0.00 0.000 260 0.000 0.035 2697 3281 3467 3481 3453 0 0 0 0 0 0 28.83 26.67 28.83

2930 -1.14 -175.2 2697 3281 3481 3453 637.3 -14.2 157 2937 0.00 1.98 0.00 0.000 1030 0.000 0.018 2697 1890 3467 3481 3453 0 0 0 0 0 0 28.83 26.72 28.83

3236 -1.14 -175.2 2697 1891 3481 3448 693.7 -17.3 168 3241 0.00 2.08 0.00 0.000 260 0.000 0.033 2687 3286 3464 3481 3448 0 0 0 0 0 0 28.83 26.68 28.83

3279 -1.14 -175.2 2687 3286 3481 3448 699.6 -17.0 169 3286 0.12 1.98 0.00 0.000 3078 0.186 0.018 2717 1890 3464 3481 3448 0 0 0 0 0 0 26.55 26.72 28.83

3608 -1.14 -175.2 2716 1890 3481 3442 752.8 -16.2 180 3613 0.00 2.00 0.00 0.000 516 0.000 0.035 2717 521 3461 3481 3442 0 0 0 0 0 0 28.83 26.70 28.83

3691 -1.14 -175.2 2717 522 3481 3441 763.5 -16.3 182 3697 0.00 1.98 0.00 0.000 1030 0.000 0.021 2712 1899 3461 3481 3441 0 0 0 0 0 0 28.83 26.71 28.83

4006 -1.14 -175.2 2712 1899 3481 3435 818.8 -16.6 193 4012 0.00 2.05 0.00 0.000 260 0.000 0.037 2709 3291 3458 3481 3435 0 0 0 0 0 0 28.83 26.69 28.83

4110 -1.14 -175.2 2709 3291 3481 3434 835.6 -17.7 196 4115 0.00 1.98 0.00 0.000 1030 0.000 0.018 2709 1898 3457 3481 3434 0 0 0 0 0 0 28.83 26.74 28.83

4438 -1.14 -175.2 2709 1898 3480 3430 888.5 -15.4 207 4443 0.00 2.03 0.00 0.000 516 0.000 0.036 2709 519 3454 3479 3430 0 0 0 0 0 0 28.83 26.71 28.83

4467 -1.14 -175.2 2709 519 3479 3430 888.5 -15.4 207 4473 0.00 1.98 0.00 0.000 1030 0.000 0.022 2700 1905 3454 3478 3430 0 0 0 0 0 0 28.83 26.73 28.83

4679 end dive: TARGET_DEPTH_EXCEEDED

state 4680 begin apogee

4690 -0.19 0.0 2697 3274 3476 3430 931.1 -17.7 215 4848 1.02 0.00 143.80 1.649 10246 0.153 0.000 3019 3274 2761 2826 2697 0 0 0 0 1 0 26.57 28.83 23.49

4850 end apogee: CONTROL_FINISHED_OK

state 4850 begin climb

4854 1.14 175.2 3019 3274 2826 2705 938.7 0.0 220 5028 1.17 2.25 156.12 1.678 11012 0.041 0.025 3465 1917 2048 2137 1960 0 0 0 0 1 0 24.77 24.38 23.37

5078 1.14 175.2 3465 1916 2137 1958 907.4 20.9 228 5083 0.00 2.25 0.00 0.000 1030 0.000 0.036 3465 3307 2047 2137 1957 0 0 0 0 0 0 28.83 25.12 28.83

5416 1.14 175.2 3465 3307 2137 1951 824.4 25.5 239 5421 0.00 2.10 0.00 0.000 516 0.000 0.025 3475 1904 2044 2137 1951 0 0 0 0 0 0 28.83 25.98 28.83

5455 1.14 175.2 3474 1904 2137 1951 815.8 24.5 240 5460 0.00 2.15 0.00 0.000 1030 0.000 0.036 3475 3302 2044 2137 1951 0 0 0 0 0 0 28.83 25.99 28.83

5788 1.14 175.2 3475 3301 2137 1948 741.2 22.1 251 5794 0.00 2.08 0.00 0.000 516 0.000 0.025 3484 1899 2042 2137 1948 0 0 0 0 0 0 28.83 26.25 28.83

5828 1.14 175.2 3484 1899 2137 1948 732.6 22.3 252 5834 0.12 2.15 0.00 0.000 5126 0.198 0.035 3457 3309 2042 2137 1948 0 0 0 0 0 0 26.10 26.25 28.83

6161 1.14 175.2 3457 3310 2137 1945 657.2 23.0 263 6167 0.00 2.08 0.00 0.000 516 0.000 0.025 3465 1905 2041 2137 1945 0 0 0 0 0 0 28.83 26.39 28.83

6245 1.14 175.2 3465 1905 2137 1944 641.4 23.3 265 6250 0.00 2.12 0.00 0.000 1030 0.000 0.036 3465 3305 2040 2137 1944 0 0 0 0 0 0 28.83 26.39 28.83

6573 1.14 175.2 3465 3305 2137 1941 558.5 23.9 279 6578 0.00 2.08 0.00 0.000 516 0.000 0.025 3475 1896 2040 2137 1943 0 0 0 0 0 0 28.83 26.48 28.83

6617 1.14 175.2 3475 1896 2137 1942 547.6 23.1 281 6623 0.00 2.15 0.00 0.000 1030 0.000 0.034 3475 3312 2039 2137 1942 0 0 0 0 0 0 28.83 26.46 28.83

6942 1.14 175.2 3474 3311 2137 1941 475.8 20.7 297 6944 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 3312 2039 2137 1941 0 0 0 0 0 0 28.83 28.83 28.83

7245 1.14 175.2 3475 3312 2138 1940 408.1 23.8 312 7246 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 3312 2038 2137 1940 0 0 0 0 0 0 28.83 28.83 28.83

7545 1.14 175.2 3475 3312 2137 1939 338.7 22.4 327 7546 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 3312 2038 2136 1941 0 0 0 0 0 0 28.83 28.83 28.83

7846 1.14 175.2 3475 3312 2137 1938 281.2 18.4 342 7851 0.00 2.05 0.00 0.000 516 0.000 0.023 3484 1902 2037 2137 1938 0 0 0 0 0 0 28.83 26.63 28.83

7973 1.14 175.2 3484 1902 2137 1938 258.3 18.9 348 7979 0.12 2.10 0.00 0.000 5126 0.197 0.034 3456 3301 2037 2137 1938 0 0 0 0 0 0 26.46 26.60 28.83

8299 1.14 175.2 3456 3301 2137 1938 194.9 17.2 364 8304 0.00 0.70 0.00 0.000 260 0.000 0.050 3456 3773 2037 2137 1937 0 0 0 0 0 0 28.83 26.62 28.83

8415 1.14 175.2 3456 3773 2137 1938 178.8 15.4 369 8421 0.00 0.65 0.00 0.000 1030 0.000 0.028 3458 3289 2037 2137 1938 0 0 0 0 0 0 28.83 26.68 28.83

8730 1.14 175.2 3458 3289 2137 1937 130.9 14.0 385 8735 0.00 0.73 0.00 0.000 260 0.000 0.050 3458 3764 2037 2137 1938 0 0 0 0 0 0 28.83 26.63 28.83

8967 1.22 203.1 3458 3764 2137 1937 110.0 8.9 396 8982 0.00 0.62 10.60 0.384 9222 0.000 0.028 3462 3294 1932 2029 1836 0 0 0 0 0 0 28.83 26.70 26.23

9302 1.25 210.9 3462 3294 2028 1836 78.9 9.7 413 9312 0.00 1.98 3.33 0.307 8708 0.000 0.021 3472 1899 1902 1996 1809 0 0 0 0 0 0 28.83 26.61 26.32

9542 1.33 238.1 3471 1898 1996 1810 57.2 9.0 424 9561 0.12 2.10 11.90 0.259 11270 0.082 0.033 3530 3315 1788 1880 1697 0 0 0 0 0 0 26.61 26.60 26.32

9874 1.53 305.2 3530 3315 1880 1699 32.7 7.4 453 9908 0.12 0.60 28.67 0.196 10500 0.081 0.044 3604 3763 1513 1599 1428 0 0 0 0 0 0 26.63 26.46 26.30

9954 1.53 305.2 3604 3762 1599 1431 21.7 17.0 462 9962 0.10 0.62 0.00 0.000 5126 0.196 0.024 3579 3269 1515 1599 1431 0 0 0 0 0 0 26.33 26.56 28.83

10079 end climb: SURFACE_DEPTH_REACHED

state 10079 begin surface coast

10104 end surface coast: CONTROL_FINISHED_OK

state 10104 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	44	ESCAPE_HEADING	0	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	3300	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	38	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	554.9259	R_STBD_OVSHOOT	44	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	-974750.5	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	260613,164928,2200.085,12023.907,45,1.5,45,-3.1	TGT_NAME	T2
_CALLS	1	TGT_LATLONG	2154.000,12025.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260613,165806,2200.172,12024.047,39,1.0,39,-3.1	MHEAD_RNG_PITCHd_Wd	174.9,11547,-16.6,-10.000,-19.50,2680
SPEED_LIMITS	0.173,0.282	D_GRID	929

FINISH	0.8,1.008008	_24V_AH	23.4,5.127
SM_CCo	10128,118.28,0.128,0,0,497,555.11	_10V_AH	10.4,4.326
SM_GC	1.66,8.70,1.95,118.28,0.032,0.020,0.128,138,1941,497,-9.13,2.97,555.11,0,0,0,0,0,0,26.53,26.55,26.14	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2152.74,12015.55,260613,131336	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	324400
HUMID	49.25	DATA_FILE_SIZE	16781,490
INTERNAL_PRESSURE	9.45349	CAP_FILE_SIZE	122552,0
TCM_TEMP	25.70	CFSIZE	260034560,246177792
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
SC_FREEKB	7699296	GPS	260613,195037,2159.046,12023.775,30,1.7,30,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	244	127.20	nil	0	0	0.00
Roll_motor	77	49	90.67	nil	0	0	0.00
VBD_pump_during_apogee	354	1678	13919.97	nil	0	0	0.00
VBD_pump_during_surface	118	127	353.58	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	10121	7	1867.42
Iridium_during_xfer	296	114	797.09	nil	0	0	0.00
Transponder_ping	0	420	2.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	50	20.95
TT8	1588	13	230.58
LPSleep	6545	2	149.07
TT8_Active	569	13	82.68
TT8_Sampling	1653	40	690.76
TT8_CF8	410	47	203.51
TT8_Kalman	0	0	0.00
Analog_circuits	1605	16	267.18
GPS_charging	0	0	0.00
Compass	1289	5	67.07
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	-1.14	-175.2	111	1935	439	562	0.0	0.0	0	116	0.00	0.00	-87.53	0.000	16386	0.000	0.000	111	1935	2695	2676	2715	0	0	0	0	0	0	28.83	28.83	28.83
124	-1.14	-175.2	111	1935	2676	2716	3.9	-7.0	16	154	10.50	2.05	-12.35	0.000	18692	0.244	0.040	2700	3315	3479	3476	3483	0	0	0	0	0	0	25.89	26.15	26.39
250	-1.14	-175.2	2700	3315	3476	3484	50.7	-33.3	30	257	0.00	2.10	0.00	0.000	1030	0.000	0.025	2700	1888	3480	3476	3484	0	0	0	0	0	0	28.83	26.24	28.83
556	-1.14	-175.2	2700	1887	3479	3485	145.8	-29.1	46	561	0.00	2.10	0.00	0.000	260	0.000	0.029	2691	3320	3481	3478	3485	0	0	0	0	0	0	28.83	26.38	28.83
755	-1.14	-175.2	2692	3320	3478	3485	193.0	-25.6	55	762	0.00	2.05	0.00	0.000	1030	0.000	0.019	2691	1881	3481	3478	3485	0	0	0	0	0	0	28.83	26.48	28.83
1061	-1.14	-175.2	2690	1881	3478	3485	274.0	-22.8	71	1062	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	1881	3481	3478	3484	0	0	0	0	0	0	28.83	28.83	28.83
1364	-1.14	-175.2	2690	1881	3478	3485	340.9	-19.3	86	1369	0.00	2.00	0.00	0.000	516	0.000	0.034	2691	509	3480	3478	3483	0	0	0	0	0	0	28.83	26.57	28.83
1481	-1.14	-175.2	2690	509	3478	3482	361.7	-19.6	91	1487	0.15	2.00	0.00	0.000	3078	0.184	0.019	2718	1921	3479	3478	3481	0	0	0	0	0	0	26.45	26.62	28.83
1796	-1.14	-175.2	2718	1922	3481	3475	420.8	-17.7	107	1802	0.00	2.00	0.00	0.000	260	0.000	0.033	2710	3283	3478	3482	3474	0	0	0	0	0	0	28.83	26.61	28.83
1901	-1.14	-175.2	2710	3283	3482	3472	441.9	-20.6	112	1907	0.00	1.98	0.00	0.000	1030	0.000	0.018	2710	1897	3477	3482	3472	0	0	0	0	0	0	28.83	26.66	28.83
2226	-1.14	-175.2	2710	1896	3482	3466	514.6	-22.6	128	2228	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	1896	3473	3481	3466	0	0	0	0	0	0	28.83	28.83	28.83
2529	-1.14	-175.2	2710	1896	3481	3461	577.9	-18.8	143	2534	0.00	2.03	0.00	0.000	516	0.000	0.035	2710	510	3470	3481	3460	0	0	0	0	0	0	28.83	26.67	28.83
2578	-1.14	-175.2	2709	510	3481	3460	586.7	-18.8	145	2583	0.00	1.98	0.00	0.000	1030	0.000	0.021	2701	1900	3470	3481	3459	0	0	0	0	0	0	28.83	26.70	28.83
2901	-1.14	-175.2	2700	1900	3481	3453	637.3	-14.2	157	2906	0.00	2.03	0.00	0.000	260	0.000	0.035	2697	3281	3467	3481	3453	0	0	0	0	0	0	28.83	26.67	28.83
2930	-1.14	-175.2	2697	3281	3481	3453	637.3	-14.2	157	2937	0.00	1.98	0.00	0.000	1030	0.000	0.018	2697	1890	3467	3481	3453	0	0	0	0	0	0	28.83	26.72	28.83
3236	-1.14	-175.2	2697	1891	3481	3448	693.7	-17.3	168	3241	0.00	2.08	0.00	0.000	260	0.000	0.033	2687	3286	3464	3481	3448	0	0	0	0	0	0	28.83	26.68	28.83
3279	-1.14	-175.2	2687	3286	3481	3448	699.6	-17.0	169	3286	0.12	1.98	0.00	0.000	3078	0.186	0.018	2717	1890	3464	3481	3448	0	0	0	0	0	0	26.55	26.72	28.83
3608	-1.14	-175.2	2716	1890	3481	3442	752.8	-16.2	180	3613	0.00	2.00	0.00	0.000	516	0.000	0.035	2717	521	3461	3481	3442	0	0	0	0	0	0	28.83	26.70	28.83
3691	-1.14	-175.2	2717	522	3481	3441	763.5	-16.3	182	3697	0.00	1.98	0.00	0.000	1030	0.000	0.021	2712	1899	3461	3481	3441	0	0	0	0	0	0	28.83	26.71	28.83
4006	-1.14	-175.2	2712	1899	3481	3435	818.8	-16.6	193	4012	0.00	2.05	0.00	0.000	260	0.000	0.037	2709	3291	3458	3481	3435	0	0	0	0	0	0	28.83	26.69	28.83
4110	-1.14	-175.2	2709	3291	3481	3434	835.6	-17.7	196	4115	0.00	1.98	0.00	0.000	1030	0.000	0.018	2709	1898	3457	3481	3434	0	0	0	0	0	0	28.83	26.74	28.83
4438	-1.14	-175.2	2709	1898	3480	3430	888.5	-15.4	207	4443	0.00	2.03	0.00	0.000	516	0.000	0.036	2709	519	3454	3479	3430	0	0	0	0	0	0	28.83	26.71	28.83
4467	-1.14	-175.2	2709	519	3479	3430	888.5	-15.4	207	4473	0.00	1.98	0.00	0.000	1030	0.000	0.022	2700	1905	3454	3478	3430	0	0	0	0	0	0	28.83	26.73	28.83
4679	end dive: TARGET_DEPTH_EXCEEDED
state	4680	begin apogee
4690	-0.19	0.0	2697	3274	3476	3430	931.1	-17.7	215	4848	1.02	0.00	143.80	1.649	10246	0.153	0.000	3019	3274	2761	2826	2697	0	0	0	0	1	0	26.57	28.83	23.49
4850	end apogee: CONTROL_FINISHED_OK
state	4850	begin climb
4854	1.14	175.2	3019	3274	2826	2705	938.7	0.0	220	5028	1.17	2.25	156.12	1.678	11012	0.041	0.025	3465	1917	2048	2137	1960	0	0	0	0	1	0	24.77	24.38	23.37
5078	1.14	175.2	3465	1916	2137	1958	907.4	20.9	228	5083	0.00	2.25	0.00	0.000	1030	0.000	0.036	3465	3307	2047	2137	1957	0	0	0	0	0	0	28.83	25.12	28.83
5416	1.14	175.2	3465	3307	2137	1951	824.4	25.5	239	5421	0.00	2.10	0.00	0.000	516	0.000	0.025	3475	1904	2044	2137	1951	0	0	0	0	0	0	28.83	25.98	28.83
5455	1.14	175.2	3474	1904	2137	1951	815.8	24.5	240	5460	0.00	2.15	0.00	0.000	1030	0.000	0.036	3475	3302	2044	2137	1951	0	0	0	0	0	0	28.83	25.99	28.83
5788	1.14	175.2	3475	3301	2137	1948	741.2	22.1	251	5794	0.00	2.08	0.00	0.000	516	0.000	0.025	3484	1899	2042	2137	1948	0	0	0	0	0	0	28.83	26.25	28.83
5828	1.14	175.2	3484	1899	2137	1948	732.6	22.3	252	5834	0.12	2.15	0.00	0.000	5126	0.198	0.035	3457	3309	2042	2137	1948	0	0	0	0	0	0	26.10	26.25	28.83
6161	1.14	175.2	3457	3310	2137	1945	657.2	23.0	263	6167	0.00	2.08	0.00	0.000	516	0.000	0.025	3465	1905	2041	2137	1945	0	0	0	0	0	0	28.83	26.39	28.83
6245	1.14	175.2	3465	1905	2137	1944	641.4	23.3	265	6250	0.00	2.12	0.00	0.000	1030	0.000	0.036	3465	3305	2040	2137	1944	0	0	0	0	0	0	28.83	26.39	28.83
6573	1.14	175.2	3465	3305	2137	1941	558.5	23.9	279	6578	0.00	2.08	0.00	0.000	516	0.000	0.025	3475	1896	2040	2137	1943	0	0	0	0	0	0	28.83	26.48	28.83
6617	1.14	175.2	3475	1896	2137	1942	547.6	23.1	281	6623	0.00	2.15	0.00	0.000	1030	0.000	0.034	3475	3312	2039	2137	1942	0	0	0	0	0	0	28.83	26.46	28.83
6942	1.14	175.2	3474	3311	2137	1941	475.8	20.7	297	6944	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	3312	2039	2137	1941	0	0	0	0	0	0	28.83	28.83	28.83
7245	1.14	175.2	3475	3312	2138	1940	408.1	23.8	312	7246	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	3312	2038	2137	1940	0	0	0	0	0	0	28.83	28.83	28.83
7545	1.14	175.2	3475	3312	2137	1939	338.7	22.4	327	7546	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	3312	2038	2136	1941	0	0	0	0	0	0	28.83	28.83	28.83
7846	1.14	175.2	3475	3312	2137	1938	281.2	18.4	342	7851	0.00	2.05	0.00	0.000	516	0.000	0.023	3484	1902	2037	2137	1938	0	0	0	0	0	0	28.83	26.63	28.83
7973	1.14	175.2	3484	1902	2137	1938	258.3	18.9	348	7979	0.12	2.10	0.00	0.000	5126	0.197	0.034	3456	3301	2037	2137	1938	0	0	0	0	0	0	26.46	26.60	28.83
8299	1.14	175.2	3456	3301	2137	1938	194.9	17.2	364	8304	0.00	0.70	0.00	0.000	260	0.000	0.050	3456	3773	2037	2137	1937	0	0	0	0	0	0	28.83	26.62	28.83
8415	1.14	175.2	3456	3773	2137	1938	178.8	15.4	369	8421	0.00	0.65	0.00	0.000	1030	0.000	0.028	3458	3289	2037	2137	1938	0	0	0	0	0	0	28.83	26.68	28.83
8730	1.14	175.2	3458	3289	2137	1937	130.9	14.0	385	8735	0.00	0.73	0.00	0.000	260	0.000	0.050	3458	3764	2037	2137	1938	0	0	0	0	0	0	28.83	26.63	28.83
8967	1.22	203.1	3458	3764	2137	1937	110.0	8.9	396	8982	0.00	0.62	10.60	0.384	9222	0.000	0.028	3462	3294	1932	2029	1836	0	0	0	0	0	0	28.83	26.70	26.23
9302	1.25	210.9	3462	3294	2028	1836	78.9	9.7	413	9312	0.00	1.98	3.33	0.307	8708	0.000	0.021	3472	1899	1902	1996	1809	0	0	0	0	0	0	28.83	26.61	26.32
9542	1.33	238.1	3471	1898	1996	1810	57.2	9.0	424	9561	0.12	2.10	11.90	0.259	11270	0.082	0.033	3530	3315	1788	1880	1697	0	0	0	0	0	0	26.61	26.60	26.32
9874	1.53	305.2	3530	3315	1880	1699	32.7	7.4	453	9908	0.12	0.60	28.67	0.196	10500	0.081	0.044	3604	3763	1513	1599	1428	0	0	0	0	0	0	26.63	26.46	26.30
9954	1.53	305.2	3604	3762	1599	1431	21.7	17.0	462	9962	0.10	0.62	0.00	0.000	5126	0.196	0.024	3579	3269	1515	1599	1431	0	0	0	0	0	0	26.33	26.56	28.83
10079	end climb: SURFACE_DEPTH_REACHED
state	10079	begin surface coast
10104	end surface coast: CONTROL_FINISHED_OK
state	10104	begin surface