Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 59 * 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 59 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 63 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 47 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 -968564 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 -968564

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 63 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 47 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 59 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 231012,164129,2304.365,12129.913,43,1.2,43,-3.4 TGT_NAME N2

_CALLS 2 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 -57.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231012,164941,2304.606,12129.918,4,1.1,4,-3.4 MHEAD_RNG_PITCHd_Wd 96.0,259759,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 934

Post-dive calculations and measurements:

FINISH 0.8,1.009560 _10V_AH 9.8,9.847

SM_CCo 10117,0.00,0.000,0,0,831,524.21 FG_AHR_24Vo 0.000

SM_GC 1.58,7.28,0.00,0.00,0.028,0.000,0.000,105,2320,831,-8.12,-0.14,524.21,0,0,0,0,0,0,26.50,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2258.07,12128.77,231012,161606 MEM 323840

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 20058,561

HUMID 55.11 CAP_FILE_SIZE 131181,0

INTERNAL_PRESSURE 9.46325 CFSIZE 260165632,244740096

TCM_TEMP 25.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 5 CURRENT 0.230, 28.2,1

ALTIM_BOTTOM_PING 550.9,7.9 GPS 231012,194005,2305.648,12132.299,36,1.2,36,-3.5

_24V_AH 24.3,17.987

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 220 109.75 nil 0 0 0.00

Roll_motor 84 52 108.23 nil 0 0 0.00

VBD_pump_during_apogee 545 918 12171.57 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 10057 15 3706.10

Iridium_during_xfer 279 123 837.64 nil 0 0 0.00

Transponder_ping 2 420 25.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.51

TT8 1693 14 244.14

LPSleep 6486 2 139.20

TT8_Active 582 14 84.02

TT8_Sampling 1610 37 598.68

TT8_CF8 243 44 106.46

TT8_Kalman 0 0 0.00

Analog_circuits 1629 16 255.50

GPS_charging 0 0 0.00

Compass 1276 8 103.06

RAFOS 0 0 0.00

Transponder 13 30 3.86

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 91 0.00 0.00 -70.03 0.000 2 0.000 0.000 109 2320 2631 0 0 0 0 0 0 28.83 28.83 28.83

94 -0.47 -195.5 3.5 -6.8 12 133 9.50 2.12 -23.60 0.000 4 0.220 0.046 2580 937 3766 0 0 0 0 0 0 25.70 26.21 26.56

279 -0.49 -195.5 31.0 -15.5 43 284 0.00 2.08 0.00 0.000 6 0.000 0.035 2575 2320 3768 0 0 0 0 0 0 28.83 26.29 28.83

602 -0.49 -195.5 85.3 -15.7 64 603 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2320 3768 0 0 0 0 0 0 28.83 28.83 28.83

904 -0.56 -195.5 115.9 -9.1 79 909 0.00 2.15 0.00 0.000 4 0.000 0.048 2575 3733 3769 0 0 0 0 0 0 28.83 26.44 28.83

1019 -0.68 -195.5 124.5 -8.1 84 1026 0.15 2.00 0.00 0.000 6 0.070 0.019 2476 2314 3769 0 0 0 0 0 0 26.57 26.63 28.83

1335 -0.67 -195.5 169.2 -13.2 100 1341 0.12 2.20 0.00 0.000 4 0.148 0.047 2518 3738 3770 0 0 0 0 0 0 26.48 26.47 28.83

1379 -0.68 -195.5 174.4 -12.6 102 1385 0.00 2.00 0.00 0.000 6 0.000 0.021 2518 2332 3770 0 0 0 0 0 0 28.83 26.66 28.83

1703 -0.75 -195.5 204.2 -10.1 118 1708 0.00 2.15 0.00 0.000 4 0.000 0.048 2518 3730 3770 0 0 0 0 0 0 28.83 26.48 28.83

1756 -0.82 -195.5 208.6 -9.9 120 1762 0.12 2.00 0.00 0.000 6 0.076 0.021 2438 2323 3770 0 0 0 0 0 0 26.62 26.68 28.83

2070 -0.76 -195.5 257.3 -15.6 136 2072 0.20 0.00 0.00 0.000 6 0.134 0.000 2497 2320 3770 0 0 0 0 0 0 26.39 28.83 28.83

2372 -0.82 -195.5 282.6 -7.7 151 2377 0.00 2.17 0.00 0.000 4 0.000 0.049 2496 3730 3768 0 0 0 0 0 0 28.83 26.49 28.83

2410 -0.88 -195.5 284.4 -7.6 152 2418 0.12 2.00 0.00 0.000 6 0.078 0.021 2421 2321 3768 0 0 0 0 0 0 26.63 26.70 28.83

2716 -0.84 -195.5 333.0 -16.6 168 2718 0.17 0.00 0.00 0.000 6 0.142 0.000 2471 2320 3766 0 0 0 0 0 0 26.42 28.83 28.83

3017 -0.87 -195.5 365.8 -9.9 183 3023 0.00 2.22 0.00 0.000 4 0.000 0.053 2472 3739 3763 0 0 0 0 0 0 28.83 26.44 28.83

3091 -0.91 -195.5 372.3 -9.7 186 3097 0.00 2.03 0.00 0.000 6 0.000 0.021 2472 2324 3763 0 0 0 0 0 0 28.83 26.70 28.83

3405 -0.95 -195.5 404.5 -10.5 202 3411 0.10 2.03 0.00 0.000 4 0.094 0.032 2409 931 3761 0 0 0 0 0 0 26.80 26.61 28.83

3478 -0.95 -195.5 413.2 -12.8 205 3484 0.00 2.10 0.00 0.000 6 0.000 0.039 2408 2327 3761 0 0 0 0 0 0 28.83 26.54 28.83

3792 -0.91 -195.5 458.9 -13.4 221 3797 0.12 2.15 0.00 0.000 4 0.158 0.046 2440 3735 3759 0 0 0 0 0 0 26.48 26.48 28.83

3836 -0.88 -195.5 464.1 -12.4 223 3841 0.00 2.03 0.00 0.000 6 0.000 0.021 2440 2302 3759 0 0 0 0 0 0 28.83 26.73 28.83

4159 -0.88 -195.5 498.8 -11.2 239 4161 0.00 0.00 -0.08 0.000 6 0.000 0.000 2440 2302 3780 0 0 0 0 0 0 28.83 28.83 25.65

4459 -0.88 -195.5 529.6 -9.5 254 4466 0.00 2.28 0.00 0.000 4 0.000 0.053 2440 3744 3778 0 0 0 0 0 0 28.83 26.43 28.83

4533 -0.90 -195.5 536.3 -10.3 257 4538 0.00 2.03 0.00 0.000 6 0.000 0.022 2440 2339 3781 0 0 0 0 0 0 28.83 26.66 28.83

4668 end dive: BOTTOM_OBSTACLE_DETECTED

state 4668 begin apogee

4673 -0.20 0.0 550.9 -10.0 264 4836 0.68 0.00 156.38 0.907 6 0.106 0.000 2670 2339 2964 0 0 0 0 0 0 26.17 28.83 24.43

4838 end apogee: CONTROL_FINISHED_OK

state 4838 begin climb

4840 0.47 195.5 558.3 0.0 272 5008 0.57 2.35 159.07 0.858 4 0.041 0.039 2914 906 2162 0 0 0 0 0 0 25.27 25.01 24.31

5074 0.40 195.5 546.6 10.4 284 5080 0.15 2.17 0.00 0.000 6 0.135 0.035 2872 2306 2152 0 0 0 0 0 0 25.44 25.58 28.83

5399 0.39 230.5 516.3 8.8 300 5438 0.00 2.28 28.90 0.919 4 0.000 0.047 2871 3707 2018 0 0 0 0 0 0 28.83 25.65 24.96

5570 0.35 230.5 498.8 11.6 308 5575 0.00 2.10 0.00 0.000 6 0.000 0.025 2878 2295 2012 0 0 0 0 0 0 28.83 26.09 28.83

5883 0.33 230.5 464.7 10.7 324 5885 0.12 0.00 0.00 0.000 6 0.142 0.000 2844 2295 2010 0 0 0 0 0 0 26.25 28.83 28.83

6185 0.37 268.7 438.3 8.7 339 6222 0.00 0.00 33.50 0.894 6 0.000 0.000 2844 2295 1867 0 0 0 0 0 0 28.83 28.83 25.13

6523 0.43 314.5 408.8 8.4 356 6573 0.10 2.35 39.88 0.856 4 0.092 0.051 2902 3704 1676 0 0 0 0 0 0 26.36 25.56 24.92

6586 0.43 314.5 401.6 10.7 359 6591 0.00 2.12 0.00 0.000 6 0.000 0.025 2908 2295 1672 0 0 0 0 0 0 28.83 25.75 28.83

6909 0.43 314.5 359.5 12.5 375 6914 0.00 2.10 0.00 0.000 4 0.000 0.036 2908 910 1667 0 0 0 0 0 0 28.83 26.22 28.83

6992 0.43 314.5 349.3 12.3 379 6997 0.00 2.08 0.00 0.000 6 0.000 0.029 2908 2308 1666 0 0 0 0 0 0 28.83 26.29 28.83

7315 0.43 314.5 312.8 11.1 395 7321 0.00 2.15 0.00 0.000 4 0.000 0.047 2908 3699 1664 0 0 0 0 0 0 28.83 26.34 28.83

7363 0.41 314.5 307.8 11.1 397 7369 0.12 2.05 0.00 0.000 6 0.154 0.024 2874 2286 1663 0 0 0 0 0 0 26.22 26.48 28.83

7682 0.47 357.9 277.1 8.5 413 7726 0.00 2.12 36.42 0.785 4 0.000 0.034 2876 918 1498 0 0 0 0 0 0 28.83 25.89 25.27

7745 0.53 408.1 271.9 8.3 416 7799 0.10 2.10 44.05 0.744 6 0.093 0.029 2941 2303 1294 0 0 0 0 0 0 25.96 25.98 24.83

8107 0.53 408.1 224.9 13.3 434 8112 0.00 2.17 0.00 0.000 4 0.000 0.047 2941 3699 1282 0 0 0 0 0 0 28.83 26.10 28.83

8153 0.53 408.1 218.5 14.1 436 8160 0.12 2.05 0.00 0.000 6 0.160 0.023 2912 2290 1281 0 0 0 0 0 0 26.01 26.27 28.83

8474 0.57 408.2 185.5 10.0 452 8475 0.00 0.00 0.00 0.000 6 0.000 0.000 2911 2291 1281 0 0 0 0 0 0 28.83 28.83 28.83

8775 0.63 408.2 155.2 10.3 467 8781 0.00 2.03 0.00 0.000 4 0.000 0.033 2912 917 1280 0 0 0 0 0 0 28.83 26.44 28.83

8793 0.69 408.2 155.2 10.3 467 8802 0.15 2.05 0.00 0.000 6 0.068 0.028 2998 2304 1280 0 0 0 0 0 0 26.47 26.47 28.83

9099 0.65 408.2 110.2 14.0 483 9105 0.15 2.12 0.00 0.000 4 0.129 0.044 2948 3697 1280 0 0 0 0 0 0 26.39 26.42 28.83

9238 0.68 408.2 95.4 10.9 489 9244 0.00 2.00 0.00 0.000 6 0.000 0.021 2952 2300 1279 0 0 0 0 0 0 28.83 26.60 28.83

9546 0.75 455.2 65.5 8.4 505 9570 0.00 2.08 16.62 0.265 4 0.000 0.031 2952 911 1114 0 0 0 0 0 0 28.83 26.49 25.95

9623 0.86 525.8 60.7 7.6 508 9659 0.17 2.08 29.30 0.258 6 0.060 0.032 3059 2310 823 0 0 0 0 0 0 26.51 26.50 25.89

9962 0.83 525.8 8.8 16.0 548 9971 0.15 2.10 1.05 0.168 4 0.133 0.041 3009 3690 824 0 0 0 0 0 0 26.29 26.38 26.13

9985 0.83 525.8 5.3 16.7 551 9991 0.00 2.00 0.00 0.000 6 0.000 0.024 3009 2321 829 0 0 0 0 0 0 28.83 26.47 28.83

10006 end climb: SURFACE_DEPTH_REACHED

state 10007 begin surface coast

10040 end surface coast: CONTROL_FINISHED_OK

state 10040 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	59	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	63	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	47	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	-968564	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	231012,164129,2304.365,12129.913,43,1.2,43,-3.4	TGT_NAME	N2
_CALLS	2	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	-57.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231012,164941,2304.606,12129.918,4,1.1,4,-3.4	MHEAD_RNG_PITCHd_Wd	96.0,259759,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	934

FINISH	0.8,1.009560	_10V_AH	9.8,9.847
SM_CCo	10117,0.00,0.000,0,0,831,524.21	FG_AHR_24Vo	0.000
SM_GC	1.58,7.28,0.00,0.00,0.028,0.000,0.000,105,2320,831,-8.12,-0.14,524.21,0,0,0,0,0,0,26.50,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2258.07,12128.77,231012,161606	MEM	323840
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	20058,561
HUMID	55.11	CAP_FILE_SIZE	131181,0
INTERNAL_PRESSURE	9.46325	CFSIZE	260165632,244740096
TCM_TEMP	25.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	5	CURRENT	0.230, 28.2,1
ALTIM_BOTTOM_PING	550.9,7.9	GPS	231012,194005,2305.648,12132.299,36,1.2,36,-3.5
_24V_AH	24.3,17.987

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	220	109.75	nil	0	0	0.00
Roll_motor	84	52	108.23	nil	0	0	0.00
VBD_pump_during_apogee	545	918	12171.57	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	10057	15	3706.10
Iridium_during_xfer	279	123	837.64	nil	0	0	0.00
Transponder_ping	2	420	25.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.51
TT8	1693	14	244.14
LPSleep	6486	2	139.20
TT8_Active	582	14	84.02
TT8_Sampling	1610	37	598.68
TT8_CF8	243	44	106.46
TT8_Kalman	0	0	0.00
Analog_circuits	1629	16	255.50
GPS_charging	0	0	0.00
Compass	1276	8	103.06
RAFOS	0	0	0.00
Transponder	13	30	3.86

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	91	0.00	0.00	-70.03	0.000	2	0.000	0.000	109	2320	2631	0	0	0	0	0	0	28.83	28.83	28.83
94	-0.47	-195.5	3.5	-6.8	12	133	9.50	2.12	-23.60	0.000	4	0.220	0.046	2580	937	3766	0	0	0	0	0	0	25.70	26.21	26.56
279	-0.49	-195.5	31.0	-15.5	43	284	0.00	2.08	0.00	0.000	6	0.000	0.035	2575	2320	3768	0	0	0	0	0	0	28.83	26.29	28.83
602	-0.49	-195.5	85.3	-15.7	64	603	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2320	3768	0	0	0	0	0	0	28.83	28.83	28.83
904	-0.56	-195.5	115.9	-9.1	79	909	0.00	2.15	0.00	0.000	4	0.000	0.048	2575	3733	3769	0	0	0	0	0	0	28.83	26.44	28.83
1019	-0.68	-195.5	124.5	-8.1	84	1026	0.15	2.00	0.00	0.000	6	0.070	0.019	2476	2314	3769	0	0	0	0	0	0	26.57	26.63	28.83
1335	-0.67	-195.5	169.2	-13.2	100	1341	0.12	2.20	0.00	0.000	4	0.148	0.047	2518	3738	3770	0	0	0	0	0	0	26.48	26.47	28.83
1379	-0.68	-195.5	174.4	-12.6	102	1385	0.00	2.00	0.00	0.000	6	0.000	0.021	2518	2332	3770	0	0	0	0	0	0	28.83	26.66	28.83
1703	-0.75	-195.5	204.2	-10.1	118	1708	0.00	2.15	0.00	0.000	4	0.000	0.048	2518	3730	3770	0	0	0	0	0	0	28.83	26.48	28.83
1756	-0.82	-195.5	208.6	-9.9	120	1762	0.12	2.00	0.00	0.000	6	0.076	0.021	2438	2323	3770	0	0	0	0	0	0	26.62	26.68	28.83
2070	-0.76	-195.5	257.3	-15.6	136	2072	0.20	0.00	0.00	0.000	6	0.134	0.000	2497	2320	3770	0	0	0	0	0	0	26.39	28.83	28.83
2372	-0.82	-195.5	282.6	-7.7	151	2377	0.00	2.17	0.00	0.000	4	0.000	0.049	2496	3730	3768	0	0	0	0	0	0	28.83	26.49	28.83
2410	-0.88	-195.5	284.4	-7.6	152	2418	0.12	2.00	0.00	0.000	6	0.078	0.021	2421	2321	3768	0	0	0	0	0	0	26.63	26.70	28.83
2716	-0.84	-195.5	333.0	-16.6	168	2718	0.17	0.00	0.00	0.000	6	0.142	0.000	2471	2320	3766	0	0	0	0	0	0	26.42	28.83	28.83
3017	-0.87	-195.5	365.8	-9.9	183	3023	0.00	2.22	0.00	0.000	4	0.000	0.053	2472	3739	3763	0	0	0	0	0	0	28.83	26.44	28.83
3091	-0.91	-195.5	372.3	-9.7	186	3097	0.00	2.03	0.00	0.000	6	0.000	0.021	2472	2324	3763	0	0	0	0	0	0	28.83	26.70	28.83
3405	-0.95	-195.5	404.5	-10.5	202	3411	0.10	2.03	0.00	0.000	4	0.094	0.032	2409	931	3761	0	0	0	0	0	0	26.80	26.61	28.83
3478	-0.95	-195.5	413.2	-12.8	205	3484	0.00	2.10	0.00	0.000	6	0.000	0.039	2408	2327	3761	0	0	0	0	0	0	28.83	26.54	28.83
3792	-0.91	-195.5	458.9	-13.4	221	3797	0.12	2.15	0.00	0.000	4	0.158	0.046	2440	3735	3759	0	0	0	0	0	0	26.48	26.48	28.83
3836	-0.88	-195.5	464.1	-12.4	223	3841	0.00	2.03	0.00	0.000	6	0.000	0.021	2440	2302	3759	0	0	0	0	0	0	28.83	26.73	28.83
4159	-0.88	-195.5	498.8	-11.2	239	4161	0.00	0.00	-0.08	0.000	6	0.000	0.000	2440	2302	3780	0	0	0	0	0	0	28.83	28.83	25.65
4459	-0.88	-195.5	529.6	-9.5	254	4466	0.00	2.28	0.00	0.000	4	0.000	0.053	2440	3744	3778	0	0	0	0	0	0	28.83	26.43	28.83
4533	-0.90	-195.5	536.3	-10.3	257	4538	0.00	2.03	0.00	0.000	6	0.000	0.022	2440	2339	3781	0	0	0	0	0	0	28.83	26.66	28.83
4668	end dive: BOTTOM_OBSTACLE_DETECTED
state	4668	begin apogee
4673	-0.20	0.0	550.9	-10.0	264	4836	0.68	0.00	156.38	0.907	6	0.106	0.000	2670	2339	2964	0	0	0	0	0	0	26.17	28.83	24.43
4838	end apogee: CONTROL_FINISHED_OK
state	4838	begin climb
4840	0.47	195.5	558.3	0.0	272	5008	0.57	2.35	159.07	0.858	4	0.041	0.039	2914	906	2162	0	0	0	0	0	0	25.27	25.01	24.31
5074	0.40	195.5	546.6	10.4	284	5080	0.15	2.17	0.00	0.000	6	0.135	0.035	2872	2306	2152	0	0	0	0	0	0	25.44	25.58	28.83
5399	0.39	230.5	516.3	8.8	300	5438	0.00	2.28	28.90	0.919	4	0.000	0.047	2871	3707	2018	0	0	0	0	0	0	28.83	25.65	24.96
5570	0.35	230.5	498.8	11.6	308	5575	0.00	2.10	0.00	0.000	6	0.000	0.025	2878	2295	2012	0	0	0	0	0	0	28.83	26.09	28.83
5883	0.33	230.5	464.7	10.7	324	5885	0.12	0.00	0.00	0.000	6	0.142	0.000	2844	2295	2010	0	0	0	0	0	0	26.25	28.83	28.83
6185	0.37	268.7	438.3	8.7	339	6222	0.00	0.00	33.50	0.894	6	0.000	0.000	2844	2295	1867	0	0	0	0	0	0	28.83	28.83	25.13
6523	0.43	314.5	408.8	8.4	356	6573	0.10	2.35	39.88	0.856	4	0.092	0.051	2902	3704	1676	0	0	0	0	0	0	26.36	25.56	24.92
6586	0.43	314.5	401.6	10.7	359	6591	0.00	2.12	0.00	0.000	6	0.000	0.025	2908	2295	1672	0	0	0	0	0	0	28.83	25.75	28.83
6909	0.43	314.5	359.5	12.5	375	6914	0.00	2.10	0.00	0.000	4	0.000	0.036	2908	910	1667	0	0	0	0	0	0	28.83	26.22	28.83
6992	0.43	314.5	349.3	12.3	379	6997	0.00	2.08	0.00	0.000	6	0.000	0.029	2908	2308	1666	0	0	0	0	0	0	28.83	26.29	28.83
7315	0.43	314.5	312.8	11.1	395	7321	0.00	2.15	0.00	0.000	4	0.000	0.047	2908	3699	1664	0	0	0	0	0	0	28.83	26.34	28.83
7363	0.41	314.5	307.8	11.1	397	7369	0.12	2.05	0.00	0.000	6	0.154	0.024	2874	2286	1663	0	0	0	0	0	0	26.22	26.48	28.83
7682	0.47	357.9	277.1	8.5	413	7726	0.00	2.12	36.42	0.785	4	0.000	0.034	2876	918	1498	0	0	0	0	0	0	28.83	25.89	25.27
7745	0.53	408.1	271.9	8.3	416	7799	0.10	2.10	44.05	0.744	6	0.093	0.029	2941	2303	1294	0	0	0	0	0	0	25.96	25.98	24.83
8107	0.53	408.1	224.9	13.3	434	8112	0.00	2.17	0.00	0.000	4	0.000	0.047	2941	3699	1282	0	0	0	0	0	0	28.83	26.10	28.83
8153	0.53	408.1	218.5	14.1	436	8160	0.12	2.05	0.00	0.000	6	0.160	0.023	2912	2290	1281	0	0	0	0	0	0	26.01	26.27	28.83
8474	0.57	408.2	185.5	10.0	452	8475	0.00	0.00	0.00	0.000	6	0.000	0.000	2911	2291	1281	0	0	0	0	0	0	28.83	28.83	28.83
8775	0.63	408.2	155.2	10.3	467	8781	0.00	2.03	0.00	0.000	4	0.000	0.033	2912	917	1280	0	0	0	0	0	0	28.83	26.44	28.83
8793	0.69	408.2	155.2	10.3	467	8802	0.15	2.05	0.00	0.000	6	0.068	0.028	2998	2304	1280	0	0	0	0	0	0	26.47	26.47	28.83
9099	0.65	408.2	110.2	14.0	483	9105	0.15	2.12	0.00	0.000	4	0.129	0.044	2948	3697	1280	0	0	0	0	0	0	26.39	26.42	28.83
9238	0.68	408.2	95.4	10.9	489	9244	0.00	2.00	0.00	0.000	6	0.000	0.021	2952	2300	1279	0	0	0	0	0	0	28.83	26.60	28.83
9546	0.75	455.2	65.5	8.4	505	9570	0.00	2.08	16.62	0.265	4	0.000	0.031	2952	911	1114	0	0	0	0	0	0	28.83	26.49	25.95
9623	0.86	525.8	60.7	7.6	508	9659	0.17	2.08	29.30	0.258	6	0.060	0.032	3059	2310	823	0	0	0	0	0	0	26.51	26.50	25.89
9962	0.83	525.8	8.8	16.0	548	9971	0.15	2.10	1.05	0.168	4	0.133	0.041	3009	3690	824	0	0	0	0	0	0	26.29	26.38	26.13
9985	0.83	525.8	5.3	16.7	551	9991	0.00	2.00	0.00	0.000	6	0.000	0.024	3009	2321	829	0	0	0	0	0	0	28.83	26.47	28.83
10006	end climb: SURFACE_DEPTH_REACHED
state	10007	begin surface coast
10040	end surface coast: CONTROL_FINISHED_OK
state	10040	begin surface