Glider dive log

OKMC Nov12 * SG129 * Dive index * Mission links * Dive 520 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 129 HD_C 9.8541004e-06 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 4 HEADING -1 ROLL_MAX 3935 ALTIM_PING_DEPTH 0

DIVE 520 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 13

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1800 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 400 R_PORT_OVSHOOT 59 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 20 N_FILEKB 4 R_STBD_OVSHOOT 90 INT_PRESSURE_YINT 0

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 2 VBD_MIN 210 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3600 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2409 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 350 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 540 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0023000001 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -6 T_GPS_CHARGE -4341.374 CF8_MAXERRORS 0 PHONE_DEVICE 48

USE_ICE 0 T_RSLEEP 3 AH0_24V 149.5 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 98.599998 RAFOS_DEVICE -1

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 MINV_24V 20 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 80 FG_AHR_24V 120.57124 SEABIRD_T_G 0.004337111

MAX_BUOY 190 PITCH_MAX 3800 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062520173

COURSE_BIAS 0 C_PITCH 2225 PRESSURE_YINT -51.692307 SEABIRD_T_I 2.3466939e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001153375 SEABIRD_T_J 2.4866913e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125753 AD7714Ch0Gain 128 SEABIRD_C_G -10.062903

RHO 1.0275 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1231569

MASS 51538 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017987719

NAV_MODE 2 PITCH_TIMEOUT 15 COMPASS_USE 4 SEABIRD_C_J 0.0002252144

FERRY_MAX 45 PITCH_AD_RATE 125 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 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 98.599998 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_24V 149.5 D_SAFE 0 PITCH_ADJ_GAIN 0 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 125 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125753 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 24 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3800 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 120.57124 PITCH_MIN 80 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0023000001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001153375 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -51.692307 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 1 T_BOOST 0

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 350

CALL_WAIT 60 HD_C 9.8541004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 15

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 -4341.374

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 129 RHO 1.0275 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 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 2225 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1800 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2050 LOGGERDEVICE3 -1 ROLL_MAX 3935 UNCOM_BLEED 20

C_VBD 2409 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 215 USE_BATHY -6

DEEPGLIDERMB 0 MASS 51538 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 190 R_PORT_OVSHOOT 59 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9 R_STBD_OVSHOOT 90 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 20 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 4 SC_RECORDABOVE 2000.0 VBD_MAX 3600

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -10.062903 VBD_MIN 210

DIVE 520 NOCOMM_ACTION 163 SEABIRD_C_H 1.1231569 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_DIVES 0 SEABIRD_C_I -0.0017987719 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 20 N_FILEKB 4 SEABIRD_C_J 0.0002252144 VBD_TIMEOUT 540

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.004337111 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_H 0.00062520173 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3466939e-05 XPDR_VALID 4

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_J 2.4866913e-06

Pre-dive calculations and measurements:

GPS1 030313,122505,1931.117,12425.132,29,1.3,29,-2.4 TGT_NAME MID

_CALLS 1 TGT_LATLONG 1808.000,12333.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030313,123337,1931.099,12425.378,15,1.4,15,-2.4 MHEAD_RNG_PITCHd_Wd 233.1,179397,-15.3,-9.429,-18.41

SPEED_LIMITS 0.163,0.283 D_GRID 5526

Post-dive calculations and measurements:

FINISH 1.2,1.010989 _10V_AH 9.8,68.619

SM_CCo 11756,36.33,0.052,0,0,778,400.08 FG_AHR_24Vo 120.571

SM_GC 2.06,6.93,2.47,36.33,0.044,0.024,0.052,64,2031,778,-6.67,-2.18,400.08,0,0,0,0,0,0,25.38,25.67,25.49 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1925.22,12423.91,030313,090930 MEM 328608

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20101,547

HUMID 53.62 CAP_FILE_SIZE 138040,0

INTERNAL_PRESSURE 9.29723 CFSIZE 260034560,200151040

TCM_TEMP 23.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.176, 44.5,1

SC_FREEKB 3820736 GPS 030313,155131,1930.385,12425.660,8,1.7,8,-2.4

_24V_AH 21.5,106.413

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 93.16 nil 0 0 0.00

Roll_motor 100 45 98.86 nil 0 0 0.00

VBD_pump_during_apogee 436 1391 13071.92 nil 0 0 0.00

VBD_pump_during_surface 36 52 40.63 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 11764 13 3329.26

Iridium_during_xfer 287 130 809.94 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 31 4.86

TT8 2165 11 238.99

LPSleep 7051 2 151.34

TT8_Active 579 11 63.94

TT8_Sampling 2053 37 754.17

TT8_CF8 453 44 199.74

TT8_Kalman 0 0 0.00

Analog_circuits 1789 15 275.40

GPS_charging 0 0 0.00

Compass 1715 8 138.54

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

21 -1.06 -184.9 0.0 0.0 0 64 0.00 0.00 -40.92 0.000 2 0.000 0.000 54 2065 1735 0 0 0 0 0 0 28.83 28.83 28.83

68 -1.06 -184.9 3.1 -4.1 7 123 7.68 2.10 -36.88 0.000 4 0.245 0.046 1871 3421 3164 0 0 0 0 0 0 25.03 25.59 26.41

243 -1.06 -184.9 49.1 -33.5 32 249 0.00 2.03 0.00 0.000 6 0.000 0.023 1871 2030 3164 0 0 0 0 0 0 28.83 25.79 28.83

550 -1.06 -184.9 150.1 -33.3 48 555 0.00 2.00 0.00 0.000 4 0.000 0.028 1871 650 3165 0 0 0 0 0 0 28.83 25.62 28.83

608 -1.06 -184.9 162.0 -30.1 50 615 0.00 2.03 0.00 0.000 6 0.000 0.021 1861 2034 3164 0 0 0 0 0 0 28.83 25.84 28.83

914 -1.06 -184.9 247.5 -24.8 66 919 0.00 2.03 0.00 0.000 4 0.000 0.028 1861 651 3166 0 0 0 0 0 0 28.83 25.64 28.83

968 -1.06 -184.9 259.6 -26.0 68 974 0.12 2.03 0.00 0.000 6 0.181 0.022 1880 2043 3166 0 0 0 0 0 0 25.28 25.81 28.83

1282 -1.06 -184.9 327.2 -20.0 84 1288 0.00 2.05 0.00 0.000 4 0.000 0.028 1880 655 3166 0 0 0 0 0 0 28.83 25.64 28.83

1423 -1.06 -184.9 353.9 -21.8 90 1430 0.00 2.03 0.00 0.000 6 0.000 0.022 1871 2054 3166 0 0 0 0 0 0 28.83 25.83 28.83

1729 -1.06 -184.9 418.5 -19.3 106 1734 0.00 2.08 0.00 0.000 4 0.000 0.028 1871 649 3169 0 0 0 0 0 0 28.83 25.62 28.83

1855 -1.06 -184.9 442.5 -19.5 112 1860 0.00 2.05 0.00 0.000 6 0.000 0.022 1861 2050 3166 0 0 0 0 0 0 28.83 25.83 28.83

2178 -1.06 -184.9 502.7 -17.9 128 2183 0.00 2.05 0.00 0.000 4 0.000 0.028 1861 656 3165 0 0 0 0 0 0 28.83 25.61 28.83

2308 -1.06 -184.9 525.8 -18.7 134 2314 0.12 2.05 0.00 0.000 6 0.174 0.022 1881 2057 3164 0 0 0 0 0 0 25.32 25.82 28.83

2627 -1.06 -184.9 580.7 -16.9 150 2633 0.00 2.10 0.00 0.000 4 0.000 0.028 1881 648 3162 0 0 0 0 0 0 28.83 25.58 28.83

2768 -1.06 -184.9 601.9 -16.8 156 2774 0.00 2.08 0.00 0.000 6 0.000 0.023 1873 2055 3161 0 0 0 0 0 0 28.83 25.78 28.83

3088 -1.06 -184.9 659.0 -16.7 167 3093 0.00 2.12 0.00 0.000 4 0.000 0.029 1872 651 3159 0 0 0 0 0 0 28.83 25.56 28.83

3304 -1.06 -184.9 695.8 -17.1 174 3309 0.00 2.10 0.00 0.000 6 0.000 0.024 1862 2048 3156 0 0 0 0 0 0 28.83 25.78 28.83

3640 -1.06 -184.9 751.2 -16.2 185 3645 0.00 2.12 0.00 0.000 4 0.000 0.030 1862 648 3154 0 0 0 0 0 0 28.83 25.53 28.83

3845 -1.06 -184.9 782.9 -16.7 191 3851 0.12 2.08 0.00 0.000 6 0.174 0.024 1882 2050 3154 0 0 0 0 0 0 25.25 25.75 28.83

4163 -1.06 -184.9 830.5 -14.2 202 4168 0.00 2.10 0.00 0.000 4 0.000 0.031 1882 658 3151 0 0 0 0 0 0 28.83 25.48 28.83

4354 -1.06 -184.9 859.5 -15.0 208 4360 0.00 2.08 0.00 0.000 6 0.000 0.024 1873 2052 3149 0 0 0 0 0 0 28.83 25.72 28.83

4686 -1.06 -184.9 911.0 -15.4 219 4692 0.00 2.12 0.00 0.000 4 0.000 0.031 1873 661 3146 0 0 0 0 0 0 28.83 25.46 28.83

4830 -1.06 -184.9 931.7 -16.3 223 4835 0.00 2.08 0.00 0.000 6 0.000 0.024 1863 2056 3145 0 0 0 0 0 0 28.83 25.70 28.83

5145 -1.06 -184.9 983.5 -15.1 234 5150 0.00 2.15 0.00 0.000 4 0.000 0.031 1863 654 3143 0 0 0 0 0 0 28.83 25.43 28.83

5206 end dive: TARGET_DEPTH_EXCEEDED

state 5206 begin apogee

5215 -0.21 0.0 993.5 -15.3 236 5381 0.98 0.00 156.10 1.392 6 0.134 0.000 2148 1822 2409 0 0 0 0 0 0 23.68 28.83 22.24

5382 end apogee: CONTROL_FINISHED_OK

state 5382 begin climb

5385 1.06 184.9 1000.0 0.0 241 5570 1.20 0.00 175.95 1.337 6 0.053 0.000 2570 1828 1654 0 0 0 0 0 0 23.65 28.83 21.46

5869 1.06 184.9 918.3 21.4 258 5874 0.00 2.05 0.00 0.000 4 0.000 0.032 2570 3185 1645 0 0 0 0 0 0 28.83 25.63 28.83

5956 1.06 184.9 904.0 21.8 260 5964 0.00 2.08 0.00 0.000 6 0.000 0.026 2580 1801 1645 0 0 0 0 0 0 28.83 25.80 28.83

6263 1.06 184.9 832.4 21.6 271 6268 0.00 2.10 0.00 0.000 4 0.000 0.031 2580 3196 1643 0 0 0 0 0 0 28.83 25.63 28.83

6341 1.06 184.9 818.5 21.3 273 6347 0.00 2.10 0.00 0.000 6 0.000 0.026 2595 1798 1642 0 0 0 0 0 0 28.83 25.75 28.83

6661 1.06 184.9 747.3 21.2 284 6667 0.00 2.12 0.00 0.000 4 0.000 0.033 2590 3177 1640 0 0 0 0 0 0 28.83 25.53 28.83

6745 1.06 184.9 733.5 20.9 286 6751 0.15 2.08 0.00 0.000 6 0.208 0.026 2566 1790 1640 0 0 0 0 0 0 24.92 25.70 28.83

7062 1.06 184.9 671.5 18.0 297 7067 0.00 2.15 0.00 0.000 4 0.000 0.032 2566 3194 1640 0 0 0 0 0 0 28.83 25.45 28.83

7192 1.06 184.9 647.2 19.2 301 7198 0.00 2.12 0.00 0.000 6 0.000 0.027 2576 1791 1640 0 0 0 0 0 0 28.83 25.64 28.83

7504 1.06 184.9 588.9 18.3 312 7506 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 1790 1639 0 0 0 0 0 0 28.83 28.83 28.83

7803 1.06 184.9 532.8 18.7 327 7809 0.00 2.12 0.00 0.000 4 0.000 0.031 2568 3191 1638 0 0 0 0 0 0 28.83 25.40 28.83

7999 1.06 184.9 498.2 18.7 336 8005 0.00 2.10 0.00 0.000 6 0.000 0.027 2576 1798 1638 0 0 0 0 0 0 28.83 25.60 28.83

8314 1.06 184.9 440.4 17.6 352 8319 0.00 2.10 0.00 0.000 4 0.000 0.031 2568 3184 1637 0 0 0 0 0 0 28.83 25.39 28.83

8550 1.06 184.9 402.5 16.3 363 8556 0.00 2.10 0.00 0.000 6 0.000 0.026 2576 1794 1637 0 0 0 0 0 0 28.83 25.57 28.83

8864 1.06 184.9 352.6 15.0 379 8870 0.00 2.10 0.00 0.000 4 0.000 0.031 2580 3186 1636 0 0 0 0 0 0 28.83 25.39 28.83

9006 1.06 184.9 334.2 14.8 385 9013 0.00 2.10 0.00 0.000 6 0.000 0.026 2583 1787 1637 0 0 0 0 0 0 28.83 25.58 28.83

9310 1.06 184.9 287.5 14.8 401 9315 0.00 2.10 0.00 0.000 4 0.000 0.031 2582 3184 1636 0 0 0 0 0 0 28.83 25.39 28.83

9546 1.06 184.9 253.7 14.6 412 9551 0.00 2.08 0.00 0.000 6 0.000 0.026 2590 1793 1636 0 0 0 0 0 0 28.83 25.58 28.83

9861 1.06 184.9 210.5 12.5 428 9866 0.00 2.12 0.00 0.000 4 0.000 0.031 2590 3195 1636 0 0 0 0 0 0 28.83 25.39 28.83

10095 1.06 184.9 180.0 13.5 439 10102 0.15 2.10 0.00 0.000 6 0.195 0.025 2565 1794 1638 0 0 0 0 0 0 24.85 25.60 28.83

10411 1.14 219.4 146.6 8.2 455 10444 0.00 2.12 27.08 0.773 4 0.000 0.027 2565 3189 1514 0 0 0 0 0 0 28.83 25.39 24.29

10678 1.14 219.4 123.4 10.8 468 10684 0.00 2.10 0.00 0.000 6 0.000 0.025 2575 1789 1510 0 0 0 0 0 0 28.83 25.71 28.83

11003 1.14 220.2 90.4 9.4 484 11009 0.00 2.10 0.00 0.000 4 0.000 0.028 2568 3198 1510 0 0 0 0 0 0 28.83 25.52 28.83

11239 1.36 316.3 72.8 6.1 495 11328 0.25 2.08 77.80 0.705 6 0.078 0.024 2670 1795 1118 0 0 0 0 0 0 25.33 25.67 24.36

11631 1.36 316.3 17.1 14.1 528 11639 0.00 2.10 0.00 0.000 4 0.000 0.033 2681 399 1113 0 0 0 0 0 0 28.83 25.60 28.83

11723 end climb: SURFACE_DEPTH_REACHED

state 11723 begin surface coast

11734 end surface coast: CONTROL_FINISHED_OK

state 11734 begin surface

ID	129	HD_C	9.8541004e-06	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	4	HEADING	-1	ROLL_MAX	3935	ALTIM_PING_DEPTH	0
DIVE	520	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	13
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1800	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	400	R_PORT_OVSHOOT	59	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	20	N_FILEKB	4	R_STBD_OVSHOOT	90	INT_PRESSURE_YINT	0
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	2	VBD_MIN	210	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3600	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2409	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	350	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	540	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0023000001	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-6	T_GPS_CHARGE	-4341.374	CF8_MAXERRORS	0	PHONE_DEVICE	48
USE_ICE	0	T_RSLEEP	3	AH0_24V	149.5	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	98.599998	RAFOS_DEVICE	-1
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	MINV_24V	20	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	80	FG_AHR_24V	120.57124	SEABIRD_T_G	0.004337111
MAX_BUOY	190	PITCH_MAX	3800	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062520173
COURSE_BIAS	0	C_PITCH	2225	PRESSURE_YINT	-51.692307	SEABIRD_T_I	2.3466939e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001153375	SEABIRD_T_J	2.4866913e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125753	AD7714Ch0Gain	128	SEABIRD_C_G	-10.062903
RHO	1.0275	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1231569
MASS	51538	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017987719
NAV_MODE	2	PITCH_TIMEOUT	15	COMPASS_USE	4	SEABIRD_C_J	0.0002252144
FERRY_MAX	45	PITCH_AD_RATE	125	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	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0

GPS1	030313,122505,1931.117,12425.132,29,1.3,29,-2.4	TGT_NAME	MID
_CALLS	1	TGT_LATLONG	1808.000,12333.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030313,123337,1931.099,12425.378,15,1.4,15,-2.4	MHEAD_RNG_PITCHd_Wd	233.1,179397,-15.3,-9.429,-18.41
SPEED_LIMITS	0.163,0.283	D_GRID	5526

FINISH	1.2,1.010989	_10V_AH	9.8,68.619
SM_CCo	11756,36.33,0.052,0,0,778,400.08	FG_AHR_24Vo	120.571
SM_GC	2.06,6.93,2.47,36.33,0.044,0.024,0.052,64,2031,778,-6.67,-2.18,400.08,0,0,0,0,0,0,25.38,25.67,25.49	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1925.22,12423.91,030313,090930	MEM	328608
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20101,547
HUMID	53.62	CAP_FILE_SIZE	138040,0
INTERNAL_PRESSURE	9.29723	CFSIZE	260034560,200151040
TCM_TEMP	23.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.176, 44.5,1
SC_FREEKB	3820736	GPS	030313,155131,1930.385,12425.660,8,1.7,8,-2.4
_24V_AH	21.5,106.413

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	93.16	nil	0	0	0.00
Roll_motor	100	45	98.86	nil	0	0	0.00
VBD_pump_during_apogee	436	1391	13071.92	nil	0	0	0.00
VBD_pump_during_surface	36	52	40.63	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	11764	13	3329.26
Iridium_during_xfer	287	130	809.94	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	31	4.86
TT8	2165	11	238.99
LPSleep	7051	2	151.34
TT8_Active	579	11	63.94
TT8_Sampling	2053	37	754.17
TT8_CF8	453	44	199.74
TT8_Kalman	0	0	0.00
Analog_circuits	1789	15	275.40
GPS_charging	0	0	0.00
Compass	1715	8	138.54
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
21	-1.06	-184.9	0.0	0.0	0	64	0.00	0.00	-40.92	0.000	2	0.000	0.000	54	2065	1735	0	0	0	0	0	0	28.83	28.83	28.83
68	-1.06	-184.9	3.1	-4.1	7	123	7.68	2.10	-36.88	0.000	4	0.245	0.046	1871	3421	3164	0	0	0	0	0	0	25.03	25.59	26.41
243	-1.06	-184.9	49.1	-33.5	32	249	0.00	2.03	0.00	0.000	6	0.000	0.023	1871	2030	3164	0	0	0	0	0	0	28.83	25.79	28.83
550	-1.06	-184.9	150.1	-33.3	48	555	0.00	2.00	0.00	0.000	4	0.000	0.028	1871	650	3165	0	0	0	0	0	0	28.83	25.62	28.83
608	-1.06	-184.9	162.0	-30.1	50	615	0.00	2.03	0.00	0.000	6	0.000	0.021	1861	2034	3164	0	0	0	0	0	0	28.83	25.84	28.83
914	-1.06	-184.9	247.5	-24.8	66	919	0.00	2.03	0.00	0.000	4	0.000	0.028	1861	651	3166	0	0	0	0	0	0	28.83	25.64	28.83
968	-1.06	-184.9	259.6	-26.0	68	974	0.12	2.03	0.00	0.000	6	0.181	0.022	1880	2043	3166	0	0	0	0	0	0	25.28	25.81	28.83
1282	-1.06	-184.9	327.2	-20.0	84	1288	0.00	2.05	0.00	0.000	4	0.000	0.028	1880	655	3166	0	0	0	0	0	0	28.83	25.64	28.83
1423	-1.06	-184.9	353.9	-21.8	90	1430	0.00	2.03	0.00	0.000	6	0.000	0.022	1871	2054	3166	0	0	0	0	0	0	28.83	25.83	28.83
1729	-1.06	-184.9	418.5	-19.3	106	1734	0.00	2.08	0.00	0.000	4	0.000	0.028	1871	649	3169	0	0	0	0	0	0	28.83	25.62	28.83
1855	-1.06	-184.9	442.5	-19.5	112	1860	0.00	2.05	0.00	0.000	6	0.000	0.022	1861	2050	3166	0	0	0	0	0	0	28.83	25.83	28.83
2178	-1.06	-184.9	502.7	-17.9	128	2183	0.00	2.05	0.00	0.000	4	0.000	0.028	1861	656	3165	0	0	0	0	0	0	28.83	25.61	28.83
2308	-1.06	-184.9	525.8	-18.7	134	2314	0.12	2.05	0.00	0.000	6	0.174	0.022	1881	2057	3164	0	0	0	0	0	0	25.32	25.82	28.83
2627	-1.06	-184.9	580.7	-16.9	150	2633	0.00	2.10	0.00	0.000	4	0.000	0.028	1881	648	3162	0	0	0	0	0	0	28.83	25.58	28.83
2768	-1.06	-184.9	601.9	-16.8	156	2774	0.00	2.08	0.00	0.000	6	0.000	0.023	1873	2055	3161	0	0	0	0	0	0	28.83	25.78	28.83
3088	-1.06	-184.9	659.0	-16.7	167	3093	0.00	2.12	0.00	0.000	4	0.000	0.029	1872	651	3159	0	0	0	0	0	0	28.83	25.56	28.83
3304	-1.06	-184.9	695.8	-17.1	174	3309	0.00	2.10	0.00	0.000	6	0.000	0.024	1862	2048	3156	0	0	0	0	0	0	28.83	25.78	28.83
3640	-1.06	-184.9	751.2	-16.2	185	3645	0.00	2.12	0.00	0.000	4	0.000	0.030	1862	648	3154	0	0	0	0	0	0	28.83	25.53	28.83
3845	-1.06	-184.9	782.9	-16.7	191	3851	0.12	2.08	0.00	0.000	6	0.174	0.024	1882	2050	3154	0	0	0	0	0	0	25.25	25.75	28.83
4163	-1.06	-184.9	830.5	-14.2	202	4168	0.00	2.10	0.00	0.000	4	0.000	0.031	1882	658	3151	0	0	0	0	0	0	28.83	25.48	28.83
4354	-1.06	-184.9	859.5	-15.0	208	4360	0.00	2.08	0.00	0.000	6	0.000	0.024	1873	2052	3149	0	0	0	0	0	0	28.83	25.72	28.83
4686	-1.06	-184.9	911.0	-15.4	219	4692	0.00	2.12	0.00	0.000	4	0.000	0.031	1873	661	3146	0	0	0	0	0	0	28.83	25.46	28.83
4830	-1.06	-184.9	931.7	-16.3	223	4835	0.00	2.08	0.00	0.000	6	0.000	0.024	1863	2056	3145	0	0	0	0	0	0	28.83	25.70	28.83
5145	-1.06	-184.9	983.5	-15.1	234	5150	0.00	2.15	0.00	0.000	4	0.000	0.031	1863	654	3143	0	0	0	0	0	0	28.83	25.43	28.83
5206	end dive: TARGET_DEPTH_EXCEEDED
state	5206	begin apogee
5215	-0.21	0.0	993.5	-15.3	236	5381	0.98	0.00	156.10	1.392	6	0.134	0.000	2148	1822	2409	0	0	0	0	0	0	23.68	28.83	22.24
5382	end apogee: CONTROL_FINISHED_OK
state	5382	begin climb
5385	1.06	184.9	1000.0	0.0	241	5570	1.20	0.00	175.95	1.337	6	0.053	0.000	2570	1828	1654	0	0	0	0	0	0	23.65	28.83	21.46
5869	1.06	184.9	918.3	21.4	258	5874	0.00	2.05	0.00	0.000	4	0.000	0.032	2570	3185	1645	0	0	0	0	0	0	28.83	25.63	28.83
5956	1.06	184.9	904.0	21.8	260	5964	0.00	2.08	0.00	0.000	6	0.000	0.026	2580	1801	1645	0	0	0	0	0	0	28.83	25.80	28.83
6263	1.06	184.9	832.4	21.6	271	6268	0.00	2.10	0.00	0.000	4	0.000	0.031	2580	3196	1643	0	0	0	0	0	0	28.83	25.63	28.83
6341	1.06	184.9	818.5	21.3	273	6347	0.00	2.10	0.00	0.000	6	0.000	0.026	2595	1798	1642	0	0	0	0	0	0	28.83	25.75	28.83
6661	1.06	184.9	747.3	21.2	284	6667	0.00	2.12	0.00	0.000	4	0.000	0.033	2590	3177	1640	0	0	0	0	0	0	28.83	25.53	28.83
6745	1.06	184.9	733.5	20.9	286	6751	0.15	2.08	0.00	0.000	6	0.208	0.026	2566	1790	1640	0	0	0	0	0	0	24.92	25.70	28.83
7062	1.06	184.9	671.5	18.0	297	7067	0.00	2.15	0.00	0.000	4	0.000	0.032	2566	3194	1640	0	0	0	0	0	0	28.83	25.45	28.83
7192	1.06	184.9	647.2	19.2	301	7198	0.00	2.12	0.00	0.000	6	0.000	0.027	2576	1791	1640	0	0	0	0	0	0	28.83	25.64	28.83
7504	1.06	184.9	588.9	18.3	312	7506	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	1790	1639	0	0	0	0	0	0	28.83	28.83	28.83
7803	1.06	184.9	532.8	18.7	327	7809	0.00	2.12	0.00	0.000	4	0.000	0.031	2568	3191	1638	0	0	0	0	0	0	28.83	25.40	28.83
7999	1.06	184.9	498.2	18.7	336	8005	0.00	2.10	0.00	0.000	6	0.000	0.027	2576	1798	1638	0	0	0	0	0	0	28.83	25.60	28.83
8314	1.06	184.9	440.4	17.6	352	8319	0.00	2.10	0.00	0.000	4	0.000	0.031	2568	3184	1637	0	0	0	0	0	0	28.83	25.39	28.83
8550	1.06	184.9	402.5	16.3	363	8556	0.00	2.10	0.00	0.000	6	0.000	0.026	2576	1794	1637	0	0	0	0	0	0	28.83	25.57	28.83
8864	1.06	184.9	352.6	15.0	379	8870	0.00	2.10	0.00	0.000	4	0.000	0.031	2580	3186	1636	0	0	0	0	0	0	28.83	25.39	28.83
9006	1.06	184.9	334.2	14.8	385	9013	0.00	2.10	0.00	0.000	6	0.000	0.026	2583	1787	1637	0	0	0	0	0	0	28.83	25.58	28.83
9310	1.06	184.9	287.5	14.8	401	9315	0.00	2.10	0.00	0.000	4	0.000	0.031	2582	3184	1636	0	0	0	0	0	0	28.83	25.39	28.83
9546	1.06	184.9	253.7	14.6	412	9551	0.00	2.08	0.00	0.000	6	0.000	0.026	2590	1793	1636	0	0	0	0	0	0	28.83	25.58	28.83
9861	1.06	184.9	210.5	12.5	428	9866	0.00	2.12	0.00	0.000	4	0.000	0.031	2590	3195	1636	0	0	0	0	0	0	28.83	25.39	28.83
10095	1.06	184.9	180.0	13.5	439	10102	0.15	2.10	0.00	0.000	6	0.195	0.025	2565	1794	1638	0	0	0	0	0	0	24.85	25.60	28.83
10411	1.14	219.4	146.6	8.2	455	10444	0.00	2.12	27.08	0.773	4	0.000	0.027	2565	3189	1514	0	0	0	0	0	0	28.83	25.39	24.29
10678	1.14	219.4	123.4	10.8	468	10684	0.00	2.10	0.00	0.000	6	0.000	0.025	2575	1789	1510	0	0	0	0	0	0	28.83	25.71	28.83
11003	1.14	220.2	90.4	9.4	484	11009	0.00	2.10	0.00	0.000	4	0.000	0.028	2568	3198	1510	0	0	0	0	0	0	28.83	25.52	28.83
11239	1.36	316.3	72.8	6.1	495	11328	0.25	2.08	77.80	0.705	6	0.078	0.024	2670	1795	1118	0	0	0	0	0	0	25.33	25.67	24.36
11631	1.36	316.3	17.1	14.1	528	11639	0.00	2.10	0.00	0.000	4	0.000	0.033	2681	399	1113	0	0	0	0	0	0	28.83	25.60	28.83
11723	end climb: SURFACE_DEPTH_REACHED
state	11723	begin surface coast
11734	end surface coast: CONTROL_FINISHED_OK
state	11734	begin surface