Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 58 * 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 400

DIVE 58 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2325 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2300 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 48 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 3 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 -968562.75 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 0.015 ALTIM_BOTTOM_TURN_MARGIN 25 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 0.015 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 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 400 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 -968562.75

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 2300 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2325 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 48 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 58 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 3

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 231012,134105,2303.549,12127.927,36,0.9,36,-3.4 TGT_NAME N2

_CALLS 1 TGT_LATLONG 2350.000,12355.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231012,134650,2303.688,12128.011,5,0.9,5,-3.4 MHEAD_RNG_PITCHd_Wd 88.5,263368,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 835

Post-dive calculations and measurements:

FINISH 0.9,1.010837 _10V_AH 10.4,9.759

SM_CCo 10366,0.00,0.000,0,0,745,545.30 FG_AHR_24Vo 0.000

SM_GC 1.55,7.32,0.00,0.00,0.030,0.000,0.000,113,2313,745,-8.11,-0.34,545.30,0,0,0,0,0,0,26.46,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2255.72,12127.55,231012,111125 MEM 323900

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 20097,588

HUMID 54.92 CAP_FILE_SIZE 133060,0

INTERNAL_PRESSURE 9.46325 CFSIZE 260165632,244813824

TCM_TEMP 25.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 9 CURRENT 0.135, 17.6,1

ALTIM_BOTTOM_PING 551.9,8.0 GPS 231012,164129,2304.365,12129.913,43,1.2,43,-3.4

_24V_AH 24.3,17.853

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 220 104.00 nil 0 0 0.00

Roll_motor 88 53 115.68 nil 0 0 0.00

VBD_pump_during_apogee 550 915 12250.08 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 10302 15 3949.34

Iridium_during_xfer 191 123 577.98 nil 0 0 0.00

Transponder_ping 3 420 35.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 26 1.88

TT8 1818 14 278.26

LPSleep 6398 2 145.72

TT8_Active 588 14 90.08

TT8_Sampling 1662 37 655.74

TT8_CF8 251 44 116.75

TT8_Kalman 0 0 0.00

Analog_circuits 1613 16 268.50

GPS_charging 0 0 0.00

Compass 1410 8 120.89

RAFOS 0 0 0.00

Transponder 13 30 4.09

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 -75.80 0.000 2 0.000 0.000 109 2322 2511 0 0 0 0 0 0 28.83 28.83 28.83

100 -0.47 -195.5 3.1 -4.5 13 144 9.45 2.15 -28.80 0.000 4 0.220 0.046 2580 906 3766 0 0 0 0 0 0 25.79 26.30 26.64

275 -0.51 -195.5 24.2 -12.8 45 282 0.00 2.12 0.00 0.000 6 0.000 0.035 2576 2320 3766 0 0 0 0 0 0 28.83 26.34 28.83

590 -0.51 -195.5 74.9 -12.8 69 591 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2320 3767 0 0 0 0 0 0 28.83 28.83 28.83

892 -0.61 -195.5 104.9 -8.0 84 897 0.00 2.15 0.00 0.000 4 0.000 0.045 2576 3743 3767 0 0 0 0 0 0 28.83 26.47 28.83

1056 -0.74 -195.5 114.0 -5.1 92 1062 0.20 2.10 0.00 0.000 6 0.075 0.034 2496 2323 3769 0 0 0 0 0 0 26.51 26.57 28.83

1381 -0.74 -195.5 150.1 -11.5 108 1386 0.00 2.17 0.00 0.000 4 0.000 0.049 2496 3729 3768 0 0 0 0 0 0 28.83 26.50 28.83

1445 -0.77 -195.5 157.5 -11.4 111 1450 0.00 2.05 0.00 0.000 6 0.000 0.020 2495 2283 3769 0 0 0 0 0 0 28.83 26.69 28.83

1768 -0.80 -195.5 194.8 -10.4 127 1774 0.00 2.22 0.00 0.000 4 0.000 0.048 2496 3730 3769 0 0 0 0 0 0 28.83 26.51 28.83

1908 -0.86 -195.5 206.2 -8.7 133 1915 0.00 2.00 0.00 0.000 6 0.000 0.021 2495 2316 3769 0 0 0 0 0 0 28.83 26.72 28.83

2214 -0.91 -195.5 239.2 -9.9 149 2220 0.12 2.00 0.00 0.000 4 0.080 0.032 2415 937 3769 0 0 0 0 0 0 26.79 26.62 28.83

2287 -0.91 -195.5 248.4 -13.6 152 2293 0.12 2.08 0.00 0.000 6 0.157 0.037 2447 2332 3768 0 0 0 0 0 0 26.36 26.58 28.83

2601 -0.91 -195.5 292.2 -13.8 168 2606 0.00 2.15 0.00 0.000 4 0.000 0.050 2440 3739 3769 0 0 0 0 0 0 28.83 26.51 28.83

2628 -0.91 -195.5 295.1 -13.4 169 2633 0.00 2.03 0.00 0.000 6 0.000 0.021 2440 2314 3766 0 0 0 0 0 0 28.83 26.71 28.83

2946 -0.89 -195.5 335.2 -11.7 185 2952 0.00 2.22 0.00 0.000 4 0.000 0.050 2440 3735 3764 0 0 0 0 0 0 28.83 26.48 28.83

3003 -0.89 -195.5 340.6 -11.9 187 3011 0.00 2.03 0.00 0.000 6 0.000 0.021 2440 2314 3764 0 0 0 0 0 0 28.83 26.71 28.83

3310 -0.89 -195.5 379.6 -11.9 203 3316 0.00 2.03 0.00 0.000 4 0.000 0.034 2440 930 3762 0 0 0 0 0 0 28.83 26.58 28.83

3367 -0.89 -195.5 384.9 -11.8 205 3374 0.00 2.10 0.00 0.000 6 0.000 0.038 2440 2324 3762 0 0 0 0 0 0 28.83 26.53 28.83

3674 -0.89 -195.5 425.2 -12.8 221 3679 0.00 2.15 0.00 0.000 4 0.000 0.049 2437 3733 3760 0 0 0 0 0 0 28.83 26.48 28.83

3716 -0.89 -195.5 431.1 -13.1 223 3722 0.00 2.03 0.00 0.000 6 0.000 0.022 2437 2323 3760 0 0 0 0 0 0 28.83 26.70 28.83

4040 -0.89 -195.5 469.9 -11.4 239 4041 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2322 3757 0 0 0 0 0 0 28.83 28.83 28.83

4340 -0.89 -195.5 503.4 -11.1 254 4341 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2322 3755 0 0 0 0 0 0 28.83 28.83 28.83

4642 -0.89 -195.5 536.8 -11.5 269 4648 0.00 2.22 0.00 0.000 4 0.000 0.054 2437 3737 3753 0 0 0 0 0 0 28.83 26.40 28.83

4710 -0.89 -195.5 544.7 -11.9 272 4716 0.00 2.03 0.00 0.000 6 0.000 0.022 2437 2327 3752 0 0 0 0 0 0 28.83 26.67 28.83

4769 end dive: BOTTOM_OBSTACLE_DETECTED

state 4769 begin apogee

4775 -0.20 0.0 551.9 -11.7 275 4935 0.70 0.00 151.43 0.907 6 0.107 0.000 2675 2324 2963 0 0 0 0 0 0 26.17 28.83 24.46

4936 end apogee: CONTROL_FINISHED_OK

state 4937 begin climb

4939 0.47 195.5 560.5 0.0 283 5110 0.57 2.28 159.32 0.864 4 0.047 0.041 2902 905 2158 0 0 0 0 0 0 25.33 25.04 24.34

5279 0.43 219.3 541.5 9.2 300 5304 0.00 2.17 19.65 0.916 6 0.000 0.038 2902 2310 2071 0 0 0 0 0 0 28.83 25.91 24.84

5618 0.38 219.3 503.9 11.7 317 5624 0.12 2.17 0.00 0.000 4 0.142 0.044 2862 3719 2056 0 0 0 0 0 0 26.13 26.18 28.83

5724 0.35 219.3 492.2 10.8 322 5730 0.00 2.10 0.00 0.000 6 0.000 0.026 2862 2303 2055 0 0 0 0 0 0 28.83 26.34 28.83

6048 0.37 257.3 464.2 8.7 338 6088 0.00 2.12 32.62 0.900 4 0.000 0.034 2861 901 1909 0 0 0 0 0 0 28.83 25.83 25.14

6111 0.38 287.4 458.6 9.0 341 6144 0.00 2.15 26.85 0.894 6 0.000 0.030 2861 2310 1791 0 0 0 0 0 0 28.83 25.93 24.83

6452 0.43 332.4 426.6 8.5 358 6496 0.00 2.28 38.53 0.862 4 0.000 0.045 2862 3698 1603 0 0 0 0 0 0 28.83 25.59 24.91

6530 0.48 363.9 421.0 8.9 361 6563 0.00 2.12 28.20 0.865 6 0.000 0.026 2861 2294 1483 0 0 0 0 0 0 28.83 25.81 24.75

6877 0.55 391.7 387.5 9.0 379 6910 0.12 2.17 24.02 0.869 4 0.082 0.037 2947 905 1362 0 0 0 0 0 0 26.29 25.77 25.11

6969 0.55 391.7 376.5 13.4 383 6975 0.12 2.12 0.00 0.000 6 0.132 0.031 2913 2301 1358 0 0 0 0 0 0 25.84 25.96 28.83

7283 0.55 391.7 336.7 11.9 399 7284 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2305 1355 0 0 0 0 0 0 28.83 28.83 28.83

7585 0.55 391.7 300.9 11.9 414 7586 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2305 1354 0 0 0 0 0 0 28.83 28.83 28.83

7885 0.55 391.7 263.9 12.8 429 7890 0.00 2.17 0.00 0.000 4 0.000 0.044 2913 3713 1353 0 0 0 0 0 0 28.83 26.43 28.83

7922 0.55 391.7 260.5 13.2 430 7929 0.00 2.08 0.00 0.000 6 0.000 0.024 2913 2290 1352 0 0 0 0 0 0 28.83 26.54 28.83

8229 0.57 391.7 224.3 10.7 446 8234 0.00 2.08 0.00 0.000 4 0.000 0.036 2913 893 1352 0 0 0 0 0 0 28.83 26.51 28.83

8293 0.61 413.4 218.6 9.3 449 8317 0.00 2.10 17.92 0.810 6 0.000 0.031 2909 2314 1278 0 0 0 0 0 0 28.83 26.53 25.58

8635 0.65 413.4 178.8 12.7 466 8642 0.10 2.12 0.00 0.000 4 0.093 0.048 2975 3703 1270 0 0 0 0 0 0 26.53 26.34 28.83

8709 0.63 413.4 168.9 14.9 469 8715 0.12 2.05 0.00 0.000 6 0.151 0.025 2943 2305 1269 0 0 0 0 0 0 26.22 26.46 28.83

9023 0.64 413.4 128.0 12.1 485 9028 0.00 2.08 0.00 0.000 4 0.000 0.034 2950 895 1269 0 0 0 0 0 0 28.83 26.48 28.83

9050 0.66 413.4 125.4 11.6 486 9056 0.00 2.08 0.00 0.000 6 0.000 0.030 2950 2301 1269 0 0 0 0 0 0 28.83 26.49 28.83

9370 0.71 423.9 94.6 9.6 502 9379 0.00 2.17 3.15 0.301 4 0.000 0.044 2950 3727 1238 0 0 0 0 0 0 28.83 26.48 25.77

9493 0.75 423.9 81.5 10.4 508 9498 0.00 2.08 0.00 0.000 6 0.000 0.022 2950 2287 1244 0 0 0 0 0 0 28.83 26.60 28.83

9817 0.88 545.5 60.5 5.8 524 9877 0.17 2.10 48.83 0.259 4 0.062 0.036 3065 906 744 0 0 0 0 0 0 26.71 26.32 25.91

10046 0.88 545.5 28.4 12.6 542 10053 0.15 2.08 0.00 0.000 6 0.118 0.031 3020 2310 749 0 0 0 0 0 0 26.23 26.41 28.83

10261 end climb: SURFACE_DEPTH_REACHED

state 10261 begin surface coast

10288 end surface coast: CONTROL_FINISHED_OK

state 10288 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	400
DIVE	58	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2325	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2300	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	48	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	3	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	-968562.75	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	0.015	ALTIM_BOTTOM_TURN_MARGIN	25	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	231012,134105,2303.549,12127.927,36,0.9,36,-3.4	TGT_NAME	N2
_CALLS	1	TGT_LATLONG	2350.000,12355.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231012,134650,2303.688,12128.011,5,0.9,5,-3.4	MHEAD_RNG_PITCHd_Wd	88.5,263368,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	835

FINISH	0.9,1.010837	_10V_AH	10.4,9.759
SM_CCo	10366,0.00,0.000,0,0,745,545.30	FG_AHR_24Vo	0.000
SM_GC	1.55,7.32,0.00,0.00,0.030,0.000,0.000,113,2313,745,-8.11,-0.34,545.30,0,0,0,0,0,0,26.46,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2255.72,12127.55,231012,111125	MEM	323900
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	20097,588
HUMID	54.92	CAP_FILE_SIZE	133060,0
INTERNAL_PRESSURE	9.46325	CFSIZE	260165632,244813824
TCM_TEMP	25.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	9	CURRENT	0.135, 17.6,1
ALTIM_BOTTOM_PING	551.9,8.0	GPS	231012,164129,2304.365,12129.913,43,1.2,43,-3.4
_24V_AH	24.3,17.853

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	220	104.00	nil	0	0	0.00
Roll_motor	88	53	115.68	nil	0	0	0.00
VBD_pump_during_apogee	550	915	12250.08	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	10302	15	3949.34
Iridium_during_xfer	191	123	577.98	nil	0	0	0.00
Transponder_ping	3	420	35.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	26	1.88
TT8	1818	14	278.26
LPSleep	6398	2	145.72
TT8_Active	588	14	90.08
TT8_Sampling	1662	37	655.74
TT8_CF8	251	44	116.75
TT8_Kalman	0	0	0.00
Analog_circuits	1613	16	268.50
GPS_charging	0	0	0.00
Compass	1410	8	120.89
RAFOS	0	0	0.00
Transponder	13	30	4.09

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	-75.80	0.000	2	0.000	0.000	109	2322	2511	0	0	0	0	0	0	28.83	28.83	28.83
100	-0.47	-195.5	3.1	-4.5	13	144	9.45	2.15	-28.80	0.000	4	0.220	0.046	2580	906	3766	0	0	0	0	0	0	25.79	26.30	26.64
275	-0.51	-195.5	24.2	-12.8	45	282	0.00	2.12	0.00	0.000	6	0.000	0.035	2576	2320	3766	0	0	0	0	0	0	28.83	26.34	28.83
590	-0.51	-195.5	74.9	-12.8	69	591	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2320	3767	0	0	0	0	0	0	28.83	28.83	28.83
892	-0.61	-195.5	104.9	-8.0	84	897	0.00	2.15	0.00	0.000	4	0.000	0.045	2576	3743	3767	0	0	0	0	0	0	28.83	26.47	28.83
1056	-0.74	-195.5	114.0	-5.1	92	1062	0.20	2.10	0.00	0.000	6	0.075	0.034	2496	2323	3769	0	0	0	0	0	0	26.51	26.57	28.83
1381	-0.74	-195.5	150.1	-11.5	108	1386	0.00	2.17	0.00	0.000	4	0.000	0.049	2496	3729	3768	0	0	0	0	0	0	28.83	26.50	28.83
1445	-0.77	-195.5	157.5	-11.4	111	1450	0.00	2.05	0.00	0.000	6	0.000	0.020	2495	2283	3769	0	0	0	0	0	0	28.83	26.69	28.83
1768	-0.80	-195.5	194.8	-10.4	127	1774	0.00	2.22	0.00	0.000	4	0.000	0.048	2496	3730	3769	0	0	0	0	0	0	28.83	26.51	28.83
1908	-0.86	-195.5	206.2	-8.7	133	1915	0.00	2.00	0.00	0.000	6	0.000	0.021	2495	2316	3769	0	0	0	0	0	0	28.83	26.72	28.83
2214	-0.91	-195.5	239.2	-9.9	149	2220	0.12	2.00	0.00	0.000	4	0.080	0.032	2415	937	3769	0	0	0	0	0	0	26.79	26.62	28.83
2287	-0.91	-195.5	248.4	-13.6	152	2293	0.12	2.08	0.00	0.000	6	0.157	0.037	2447	2332	3768	0	0	0	0	0	0	26.36	26.58	28.83
2601	-0.91	-195.5	292.2	-13.8	168	2606	0.00	2.15	0.00	0.000	4	0.000	0.050	2440	3739	3769	0	0	0	0	0	0	28.83	26.51	28.83
2628	-0.91	-195.5	295.1	-13.4	169	2633	0.00	2.03	0.00	0.000	6	0.000	0.021	2440	2314	3766	0	0	0	0	0	0	28.83	26.71	28.83
2946	-0.89	-195.5	335.2	-11.7	185	2952	0.00	2.22	0.00	0.000	4	0.000	0.050	2440	3735	3764	0	0	0	0	0	0	28.83	26.48	28.83
3003	-0.89	-195.5	340.6	-11.9	187	3011	0.00	2.03	0.00	0.000	6	0.000	0.021	2440	2314	3764	0	0	0	0	0	0	28.83	26.71	28.83
3310	-0.89	-195.5	379.6	-11.9	203	3316	0.00	2.03	0.00	0.000	4	0.000	0.034	2440	930	3762	0	0	0	0	0	0	28.83	26.58	28.83
3367	-0.89	-195.5	384.9	-11.8	205	3374	0.00	2.10	0.00	0.000	6	0.000	0.038	2440	2324	3762	0	0	0	0	0	0	28.83	26.53	28.83
3674	-0.89	-195.5	425.2	-12.8	221	3679	0.00	2.15	0.00	0.000	4	0.000	0.049	2437	3733	3760	0	0	0	0	0	0	28.83	26.48	28.83
3716	-0.89	-195.5	431.1	-13.1	223	3722	0.00	2.03	0.00	0.000	6	0.000	0.022	2437	2323	3760	0	0	0	0	0	0	28.83	26.70	28.83
4040	-0.89	-195.5	469.9	-11.4	239	4041	0.00	0.00	0.00	0.000	6	0.000	0.000	2438	2322	3757	0	0	0	0	0	0	28.83	28.83	28.83
4340	-0.89	-195.5	503.4	-11.1	254	4341	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2322	3755	0	0	0	0	0	0	28.83	28.83	28.83
4642	-0.89	-195.5	536.8	-11.5	269	4648	0.00	2.22	0.00	0.000	4	0.000	0.054	2437	3737	3753	0	0	0	0	0	0	28.83	26.40	28.83
4710	-0.89	-195.5	544.7	-11.9	272	4716	0.00	2.03	0.00	0.000	6	0.000	0.022	2437	2327	3752	0	0	0	0	0	0	28.83	26.67	28.83
4769	end dive: BOTTOM_OBSTACLE_DETECTED
state	4769	begin apogee
4775	-0.20	0.0	551.9	-11.7	275	4935	0.70	0.00	151.43	0.907	6	0.107	0.000	2675	2324	2963	0	0	0	0	0	0	26.17	28.83	24.46
4936	end apogee: CONTROL_FINISHED_OK
state	4937	begin climb
4939	0.47	195.5	560.5	0.0	283	5110	0.57	2.28	159.32	0.864	4	0.047	0.041	2902	905	2158	0	0	0	0	0	0	25.33	25.04	24.34
5279	0.43	219.3	541.5	9.2	300	5304	0.00	2.17	19.65	0.916	6	0.000	0.038	2902	2310	2071	0	0	0	0	0	0	28.83	25.91	24.84
5618	0.38	219.3	503.9	11.7	317	5624	0.12	2.17	0.00	0.000	4	0.142	0.044	2862	3719	2056	0	0	0	0	0	0	26.13	26.18	28.83
5724	0.35	219.3	492.2	10.8	322	5730	0.00	2.10	0.00	0.000	6	0.000	0.026	2862	2303	2055	0	0	0	0	0	0	28.83	26.34	28.83
6048	0.37	257.3	464.2	8.7	338	6088	0.00	2.12	32.62	0.900	4	0.000	0.034	2861	901	1909	0	0	0	0	0	0	28.83	25.83	25.14
6111	0.38	287.4	458.6	9.0	341	6144	0.00	2.15	26.85	0.894	6	0.000	0.030	2861	2310	1791	0	0	0	0	0	0	28.83	25.93	24.83
6452	0.43	332.4	426.6	8.5	358	6496	0.00	2.28	38.53	0.862	4	0.000	0.045	2862	3698	1603	0	0	0	0	0	0	28.83	25.59	24.91
6530	0.48	363.9	421.0	8.9	361	6563	0.00	2.12	28.20	0.865	6	0.000	0.026	2861	2294	1483	0	0	0	0	0	0	28.83	25.81	24.75
6877	0.55	391.7	387.5	9.0	379	6910	0.12	2.17	24.02	0.869	4	0.082	0.037	2947	905	1362	0	0	0	0	0	0	26.29	25.77	25.11
6969	0.55	391.7	376.5	13.4	383	6975	0.12	2.12	0.00	0.000	6	0.132	0.031	2913	2301	1358	0	0	0	0	0	0	25.84	25.96	28.83
7283	0.55	391.7	336.7	11.9	399	7284	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2305	1355	0	0	0	0	0	0	28.83	28.83	28.83
7585	0.55	391.7	300.9	11.9	414	7586	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2305	1354	0	0	0	0	0	0	28.83	28.83	28.83
7885	0.55	391.7	263.9	12.8	429	7890	0.00	2.17	0.00	0.000	4	0.000	0.044	2913	3713	1353	0	0	0	0	0	0	28.83	26.43	28.83
7922	0.55	391.7	260.5	13.2	430	7929	0.00	2.08	0.00	0.000	6	0.000	0.024	2913	2290	1352	0	0	0	0	0	0	28.83	26.54	28.83
8229	0.57	391.7	224.3	10.7	446	8234	0.00	2.08	0.00	0.000	4	0.000	0.036	2913	893	1352	0	0	0	0	0	0	28.83	26.51	28.83
8293	0.61	413.4	218.6	9.3	449	8317	0.00	2.10	17.92	0.810	6	0.000	0.031	2909	2314	1278	0	0	0	0	0	0	28.83	26.53	25.58
8635	0.65	413.4	178.8	12.7	466	8642	0.10	2.12	0.00	0.000	4	0.093	0.048	2975	3703	1270	0	0	0	0	0	0	26.53	26.34	28.83
8709	0.63	413.4	168.9	14.9	469	8715	0.12	2.05	0.00	0.000	6	0.151	0.025	2943	2305	1269	0	0	0	0	0	0	26.22	26.46	28.83
9023	0.64	413.4	128.0	12.1	485	9028	0.00	2.08	0.00	0.000	4	0.000	0.034	2950	895	1269	0	0	0	0	0	0	28.83	26.48	28.83
9050	0.66	413.4	125.4	11.6	486	9056	0.00	2.08	0.00	0.000	6	0.000	0.030	2950	2301	1269	0	0	0	0	0	0	28.83	26.49	28.83
9370	0.71	423.9	94.6	9.6	502	9379	0.00	2.17	3.15	0.301	4	0.000	0.044	2950	3727	1238	0	0	0	0	0	0	28.83	26.48	25.77
9493	0.75	423.9	81.5	10.4	508	9498	0.00	2.08	0.00	0.000	6	0.000	0.022	2950	2287	1244	0	0	0	0	0	0	28.83	26.60	28.83
9817	0.88	545.5	60.5	5.8	524	9877	0.17	2.10	48.83	0.259	4	0.062	0.036	3065	906	744	0	0	0	0	0	0	26.71	26.32	25.91
10046	0.88	545.5	28.4	12.6	542	10053	0.15	2.08	0.00	0.000	6	0.118	0.031	3020	2310	749	0	0	0	0	0	0	26.23	26.41	28.83
10261	end climb: SURFACE_DEPTH_REACHED
state	10261	begin surface coast
10288	end surface coast: CONTROL_FINISHED_OK
state	10288	begin surface