Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 116 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 121 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 10 ESCAPE_HEADING 0 C_ROLL_DIVE 1975 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 116 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 47.599998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -122.3 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 350 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 53 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 55 XPDR_VALID 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 2.3

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 400 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 2 VBD_MAX 3600 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2795 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 126 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 150 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 180 CAPMAXSIZE 50000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 30 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -100640.3 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -4 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 100 MINV_24V 22 SIM_W 0.090000004

APOGEE_PITCH -5 PITCH_MAX 4069 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2365 FG_AHR_10V 0 SEABIRD_T_G 0.0042823856

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062054652

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 PHONE_SUPPLY -2 SEABIRD_T_I 2.2746239e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -34.938694 SEABIRD_T_J 2.4072633e-06

RHO 1.0275 PITCH_GAIN 20 PRESSURE_SLOPE 9.0818496e-05 SEABIRD_C_G -9.8275757

MASS 51800 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_H 1.1041691

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015209455

FERRY_MAX 40 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020302966

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0056599998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0135 ROLL_MIN 526 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 6.2300001e-06 ROLL_MAX 3878 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0.090000004

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 145 SM_CC 560

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.0046000001 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 350 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4069 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 40 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MIN 100 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0024999999 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 9.0818496e-05 T_ABORT 180

CALL_NDIVES 1 HD_A 0.0056599998 PRESSURE_YINT -34.938694 T_BOOST 5

CALL_TRIES 10 HD_B 0.0135 PROTOCOL 9 T_DIVE 126

CALL_WAIT 5 HD_C 6.2300001e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 50000 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS 30

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -100640.3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 121 RELAUNCH 1 T_MISSION 150

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 2.3 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2365 LOGGERDEVICE1 53 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2300 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 1975 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2795 LOGGERDEVICE4 -1 ROLL_MAX 3878 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -4

DEEPGLIDER 0 MASS 51800 ROLL_MIN 526 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 53 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 55 VBD_DBAND 2

DEVICE3 -1 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3600

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 400

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -9.8275757 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 116 N_DIVES 0 SEABIRD_C_H 1.1041691 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 500 N_FILEKB 4 SEABIRD_C_I -0.0015209455 VBD_TIMEOUT 720

D_BOOST 0 N_GPS 20 SEABIRD_C_J 0.00020302966 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 2 SEABIRD_T_G 0.0042823856 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00062054652 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 48 SEABIRD_T_I 2.2746239e-05 XPDR_VALID 0

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.4072633e-06

Pre-dive calculations and measurements:

GPS1 170313,065319,1904.499,12007.432,613,0.8,614,-2.5 TGT_NAME W2A

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -23.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170313,070014,1904.525,12007.516,19,0.8,20,-2.5 MHEAD_RNG_PITCHd_Wd 350.9,297482,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3000

Post-dive calculations and measurements:

FINISH 0.0,1.026332 _10V_AH 10.2,12.781

SM_CCo 7826,231.32,0.842,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,2.70,231.32,0.078,0.027,0.842,86,1967,511,-10.39,1.02,560.02,0,0,0,0,1,0,26.39,26.41,24.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1857.82,12006.19,170313,040415 MEM 323880

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16772,472

HUMID 48.11 CAP_FILE_SIZE 379868,1898

INTERNAL_PRESSURE 9.02877 CFSIZE 260034560,237334528

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 1 CURRENT 0.217, 45.1,1

SC_FREEKB 3978496 GPS 170313,092522,1905.963,12008.082,580,0.9,580,-2.5

_24V_AH 24.3,20.782

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 231 96.70 nil 0 0 0.00

Roll_motor 60 45 66.08 nil 0 0 0.00

VBD_pump_during_apogee 409 894 8898.90 nil 0 0 0.00

VBD_pump_during_surface 231 841 4730.24 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 7810 7 1378.20

Iridium_during_xfer 248 128 777.09 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.71

TT8 1854 14 273.46

LPSleep 4108 2 91.77

TT8_Active 747 14 110.19

TT8_Sampling 1493 39 597.00

TT8_CF8 257 46 122.52

TT8_Kalman 0 0 0.00

Analog_circuits 1745 15 275.90

GPS_charging 0 0 0.00

Compass 1245 7 95.18

RAFOS 0 0 0.00

Transponder 1 5 0.08

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 85 1943 466 554 0.0 0.0 0 44 0.00 0.00 -24.25 0.000 16386 0.000 0.000 85 1943 1141 1128 1154 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 85 1943 1128 1157 3.4 -9.8 3 145 8.02 2.17 -81.25 0.000 18692 0.231 0.041 2057 3373 3492 3407 3578 0 0 0 0 0 0 25.86 26.19 26.48

386 -1.35 -170.3 2057 3373 3409 3580 33.6 -8.9 52 395 0.00 2.10 0.00 0.000 1030 0.000 0.023 2065 1970 3494 3409 3580 0 0 0 0 0 0 28.83 26.39 28.83

694 -1.35 -170.3 2065 1969 3415 3580 61.6 -9.1 77 700 0.00 2.12 0.00 0.000 260 0.000 0.029 2057 3378 3497 3414 3580 0 0 0 0 0 0 28.83 26.48 28.83

783 -1.35 -170.3 2056 3378 3415 3579 69.8 -9.2 81 789 0.00 2.10 0.00 0.000 1030 0.000 0.024 2065 1966 3497 3415 3580 0 0 0 0 0 0 28.83 26.52 28.83

1108 -1.35 -170.3 2064 1965 3416 3580 98.9 -8.9 97 1115 0.00 2.12 0.00 0.000 516 0.000 0.041 2075 572 3498 3416 3580 0 0 0 0 0 0 28.83 26.55 28.83

1165 -1.35 -170.3 2075 572 3416 3580 103.3 -9.1 99 1171 0.00 2.05 0.00 0.000 1030 0.000 0.016 2066 1997 3498 3416 3580 0 0 0 0 0 0 28.83 26.63 28.83

1480 -1.35 -170.3 2066 1998 3415 3580 132.3 -9.2 115 1486 0.00 2.20 0.00 0.000 516 0.000 0.039 2075 574 3498 3416 3580 0 0 0 0 0 0 28.83 26.60 28.83

1546 -1.35 -170.3 2075 574 3416 3580 138.1 -8.8 118 1552 0.00 2.03 0.00 0.000 1030 0.000 0.015 2067 1977 3498 3416 3580 0 0 0 0 0 0 28.83 26.67 28.83

1872 -1.35 -170.3 2066 1980 3416 3578 167.4 -9.0 134 1874 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 1980 3497 3416 3578 0 0 0 0 0 0 28.83 28.83 28.83

2171 -1.35 -170.3 2066 1980 3416 3575 194.6 -9.2 149 2177 0.00 2.15 0.00 0.000 516 0.000 0.040 2075 577 3496 3416 3576 0 0 0 0 0 0 28.83 26.64 28.83

2296 -1.35 -170.3 2075 576 3416 3574 204.2 -8.8 154 2304 0.00 2.03 0.00 0.000 1030 0.000 0.015 2066 1987 3494 3416 3573 0 0 0 0 0 0 28.83 26.72 28.83

2601 -1.35 -170.3 2066 1988 3416 3570 232.6 -9.2 170 2608 0.00 2.03 0.00 0.000 260 0.000 0.031 2056 3358 3493 3416 3570 0 0 0 0 0 0 28.83 26.67 28.83

2621 -1.35 -170.3 2056 3357 3416 3570 232.6 -9.2 170 2629 0.00 2.05 0.00 0.000 1030 0.000 0.025 2064 1975 3492 3416 3569 0 0 0 0 0 0 28.83 26.69 28.83

2926 -1.35 -170.3 2063 1975 3415 3567 261.9 -9.0 186 2932 0.00 2.12 0.00 0.000 516 0.000 0.045 2073 578 3490 3414 3567 0 0 0 0 0 0 28.83 26.64 28.83

3003 -1.35 -170.3 2073 578 3414 3567 267.9 -9.0 189 3008 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1984 3490 3414 3566 0 0 0 0 0 0 28.83 26.74 28.83

3317 -1.35 -170.3 2065 1984 3411 3565 296.9 -9.0 205 3318 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 1984 3488 3412 3565 0 0 0 0 0 0 28.83 28.83 28.83

3618 -1.35 -170.3 2065 1985 3409 3562 324.2 -8.9 220 3624 0.00 2.17 0.00 0.000 516 0.000 0.043 2073 577 3485 3409 3562 0 0 0 0 0 0 28.83 26.67 28.83

3686 -1.35 -170.3 2073 577 3409 3562 330.3 -9.1 223 3693 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1974 3485 3409 3562 0 0 0 0 0 0 28.83 26.74 28.83

3909 end dive: TARGET_DEPTH_EXCEEDED

state 3909 begin apogee

3914 -0.25 0.0 2063 2299 3408 3560 350.8 -9.1 234 4071 0.75 0.00 148.05 0.894 10246 0.124 0.000 2306 2300 2788 2750 2827 0 0 0 0 0 0 26.54 28.83 24.48

4073 end apogee: CONTROL_FINISHED_OK

state 4073 begin climb

4074 1.35 170.3 2307 2300 2748 2824 336.7 0.0 241 4237 1.00 2.30 151.35 0.874 10500 0.067 0.034 2660 3683 2090 2054 2127 0 0 0 0 0 0 25.25 24.97 24.32

4475 1.40 187.5 1696 3682 1993 2103 300.6 8.6 259 4495 0.00 2.12 15.05 0.823 9222 0.000 0.023 2670 2295 2029 1993 2066 0 0 0 0 0 0 28.83 25.98 25.10

4793 1.42 198.9 2669 2295 1981 2049 271.9 8.8 275 4805 0.00 0.00 9.82 0.825 8198 0.000 0.000 2670 2294 1984 1948 2020 0 0 0 0 0 0 28.83 28.83 25.28

5093 1.43 202.2 2669 2295 1941 2006 244.3 9.1 290 5099 0.00 2.17 0.00 0.000 516 0.000 0.041 2681 892 1973 1941 2006 0 0 0 0 0 0 28.83 26.28 28.83

5256 1.44 206.9 2680 891 1940 2006 230.8 9.1 297 5269 0.00 2.08 5.10 0.733 9222 0.000 0.018 2680 2295 1950 1915 1985 0 0 0 0 0 0 28.83 26.43 25.44

5588 1.47 217.1 2680 2295 1915 1987 199.7 8.9 314 5608 0.00 0.00 13.23 0.783 8198 0.000 0.000 2680 2296 1905 1875 1935 0 0 0 0 0 0 28.83 28.83 25.53

5908 1.48 222.9 2680 2296 1874 1929 170.4 9.0 330 5919 0.00 2.12 4.50 0.692 8452 0.000 0.033 2681 3694 1885 1857 1913 0 0 0 0 0 0 28.83 26.34 25.37

6039 1.50 227.6 1696 3693 1811 1904 158.8 9.1 336 6052 0.00 2.10 6.97 0.767 9222 0.000 0.024 2690 2304 1865 1836 1894 0 0 0 0 0 0 28.83 26.42 25.54

6360 1.50 227.6 2690 2304 1835 1887 129.4 9.4 352 6366 0.00 2.17 0.00 0.000 516 0.000 0.042 2701 895 1861 1835 1888 0 0 0 0 0 0 28.83 26.41 28.83

6428 1.51 232.8 2700 895 1835 1888 123.3 9.1 355 6439 0.00 2.10 4.78 0.698 9222 0.000 0.018 2701 2309 1844 1816 1872 0 0 0 0 0 0 28.83 26.50 25.43

6754 1.53 239.5 2701 2309 1816 1872 94.3 9.0 371 6765 0.00 0.00 9.05 0.733 8198 0.000 0.000 2701 2309 1817 1788 1847 0 0 0 0 0 0 28.83 28.83 25.65

7054 1.59 265.3 2701 2309 1783 1839 67.7 8.3 386 7083 0.00 0.00 26.65 0.692 8198 0.000 0.000 2701 2309 1712 1677 1747 0 0 0 0 0 0 28.83 28.83 25.46

7375 1.60 270.2 2701 2309 1671 1733 38.9 9.1 408 7384 0.00 2.17 3.08 0.464 8452 0.000 0.035 2701 3688 1692 1658 1726 0 0 0 0 0 0 28.83 26.31 25.36

7409 1.63 279.4 2701 3688 1658 1726 35.8 8.9 411 7428 0.00 2.12 11.88 0.685 9222 0.000 0.025 2711 2298 1650 1606 1695 0 0 0 0 0 0 28.83 26.34 25.53

7746 1.64 283.2 2711 2298 1599 1691 5.2 9.1 462 7754 0.00 2.15 0.00 0.000 260 0.000 0.034 2711 3694 1645 1599 1692 0 0 0 0 0 0 28.83 26.37 28.83

7771 end climb: SURFACE_DEPTH_REACHED

state 7771 begin surface coast

7808 end surface coast: CONTROL_FINISHED_OK

state 7808 begin surface

ID	121	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	1975	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	116	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	47.599998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-122.3	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	350	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	53	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	55	XPDR_VALID	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	2.3
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	400	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	2	VBD_MAX	3600	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2795	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	126	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	150	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	180	CAPMAXSIZE	50000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	30	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-100640.3	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-4	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	100	MINV_24V	22	SIM_W	0.090000004
APOGEE_PITCH	-5	PITCH_MAX	4069	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2365	FG_AHR_10V	0	SEABIRD_T_G	0.0042823856
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062054652
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2746239e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-34.938694	SEABIRD_T_J	2.4072633e-06
RHO	1.0275	PITCH_GAIN	20	PRESSURE_SLOPE	9.0818496e-05	SEABIRD_C_G	-9.8275757
MASS	51800	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_H	1.1041691
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015209455
FERRY_MAX	40	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020302966
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0056599998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0135	ROLL_MIN	526	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	6.2300001e-06	ROLL_MAX	3878	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	170313,065319,1904.499,12007.432,613,0.8,614,-2.5	TGT_NAME	W2A
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-23.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170313,070014,1904.525,12007.516,19,0.8,20,-2.5	MHEAD_RNG_PITCHd_Wd	350.9,297482,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3000

FINISH	0.0,1.026332	_10V_AH	10.2,12.781
SM_CCo	7826,231.32,0.842,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,2.70,231.32,0.078,0.027,0.842,86,1967,511,-10.39,1.02,560.02,0,0,0,0,1,0,26.39,26.41,24.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1857.82,12006.19,170313,040415	MEM	323880
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16772,472
HUMID	48.11	CAP_FILE_SIZE	379868,1898
INTERNAL_PRESSURE	9.02877	CFSIZE	260034560,237334528
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	1	CURRENT	0.217, 45.1,1
SC_FREEKB	3978496	GPS	170313,092522,1905.963,12008.082,580,0.9,580,-2.5
_24V_AH	24.3,20.782

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	231	96.70	nil	0	0	0.00
Roll_motor	60	45	66.08	nil	0	0	0.00
VBD_pump_during_apogee	409	894	8898.90	nil	0	0	0.00
VBD_pump_during_surface	231	841	4730.24	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	7810	7	1378.20
Iridium_during_xfer	248	128	777.09	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.71
TT8	1854	14	273.46
LPSleep	4108	2	91.77
TT8_Active	747	14	110.19
TT8_Sampling	1493	39	597.00
TT8_CF8	257	46	122.52
TT8_Kalman	0	0	0.00
Analog_circuits	1745	15	275.90
GPS_charging	0	0	0.00
Compass	1245	7	95.18
RAFOS	0	0	0.00
Transponder	1	5	0.08

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	85	1943	466	554	0.0	0.0	0	44	0.00	0.00	-24.25	0.000	16386	0.000	0.000	85	1943	1141	1128	1154	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	85	1943	1128	1157	3.4	-9.8	3	145	8.02	2.17	-81.25	0.000	18692	0.231	0.041	2057	3373	3492	3407	3578	0	0	0	0	0	0	25.86	26.19	26.48
386	-1.35	-170.3	2057	3373	3409	3580	33.6	-8.9	52	395	0.00	2.10	0.00	0.000	1030	0.000	0.023	2065	1970	3494	3409	3580	0	0	0	0	0	0	28.83	26.39	28.83
694	-1.35	-170.3	2065	1969	3415	3580	61.6	-9.1	77	700	0.00	2.12	0.00	0.000	260	0.000	0.029	2057	3378	3497	3414	3580	0	0	0	0	0	0	28.83	26.48	28.83
783	-1.35	-170.3	2056	3378	3415	3579	69.8	-9.2	81	789	0.00	2.10	0.00	0.000	1030	0.000	0.024	2065	1966	3497	3415	3580	0	0	0	0	0	0	28.83	26.52	28.83
1108	-1.35	-170.3	2064	1965	3416	3580	98.9	-8.9	97	1115	0.00	2.12	0.00	0.000	516	0.000	0.041	2075	572	3498	3416	3580	0	0	0	0	0	0	28.83	26.55	28.83
1165	-1.35	-170.3	2075	572	3416	3580	103.3	-9.1	99	1171	0.00	2.05	0.00	0.000	1030	0.000	0.016	2066	1997	3498	3416	3580	0	0	0	0	0	0	28.83	26.63	28.83
1480	-1.35	-170.3	2066	1998	3415	3580	132.3	-9.2	115	1486	0.00	2.20	0.00	0.000	516	0.000	0.039	2075	574	3498	3416	3580	0	0	0	0	0	0	28.83	26.60	28.83
1546	-1.35	-170.3	2075	574	3416	3580	138.1	-8.8	118	1552	0.00	2.03	0.00	0.000	1030	0.000	0.015	2067	1977	3498	3416	3580	0	0	0	0	0	0	28.83	26.67	28.83
1872	-1.35	-170.3	2066	1980	3416	3578	167.4	-9.0	134	1874	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	1980	3497	3416	3578	0	0	0	0	0	0	28.83	28.83	28.83
2171	-1.35	-170.3	2066	1980	3416	3575	194.6	-9.2	149	2177	0.00	2.15	0.00	0.000	516	0.000	0.040	2075	577	3496	3416	3576	0	0	0	0	0	0	28.83	26.64	28.83
2296	-1.35	-170.3	2075	576	3416	3574	204.2	-8.8	154	2304	0.00	2.03	0.00	0.000	1030	0.000	0.015	2066	1987	3494	3416	3573	0	0	0	0	0	0	28.83	26.72	28.83
2601	-1.35	-170.3	2066	1988	3416	3570	232.6	-9.2	170	2608	0.00	2.03	0.00	0.000	260	0.000	0.031	2056	3358	3493	3416	3570	0	0	0	0	0	0	28.83	26.67	28.83
2621	-1.35	-170.3	2056	3357	3416	3570	232.6	-9.2	170	2629	0.00	2.05	0.00	0.000	1030	0.000	0.025	2064	1975	3492	3416	3569	0	0	0	0	0	0	28.83	26.69	28.83
2926	-1.35	-170.3	2063	1975	3415	3567	261.9	-9.0	186	2932	0.00	2.12	0.00	0.000	516	0.000	0.045	2073	578	3490	3414	3567	0	0	0	0	0	0	28.83	26.64	28.83
3003	-1.35	-170.3	2073	578	3414	3567	267.9	-9.0	189	3008	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1984	3490	3414	3566	0	0	0	0	0	0	28.83	26.74	28.83
3317	-1.35	-170.3	2065	1984	3411	3565	296.9	-9.0	205	3318	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	1984	3488	3412	3565	0	0	0	0	0	0	28.83	28.83	28.83
3618	-1.35	-170.3	2065	1985	3409	3562	324.2	-8.9	220	3624	0.00	2.17	0.00	0.000	516	0.000	0.043	2073	577	3485	3409	3562	0	0	0	0	0	0	28.83	26.67	28.83
3686	-1.35	-170.3	2073	577	3409	3562	330.3	-9.1	223	3693	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1974	3485	3409	3562	0	0	0	0	0	0	28.83	26.74	28.83
3909	end dive: TARGET_DEPTH_EXCEEDED
state	3909	begin apogee
3914	-0.25	0.0	2063	2299	3408	3560	350.8	-9.1	234	4071	0.75	0.00	148.05	0.894	10246	0.124	0.000	2306	2300	2788	2750	2827	0	0	0	0	0	0	26.54	28.83	24.48
4073	end apogee: CONTROL_FINISHED_OK
state	4073	begin climb
4074	1.35	170.3	2307	2300	2748	2824	336.7	0.0	241	4237	1.00	2.30	151.35	0.874	10500	0.067	0.034	2660	3683	2090	2054	2127	0	0	0	0	0	0	25.25	24.97	24.32
4475	1.40	187.5	1696	3682	1993	2103	300.6	8.6	259	4495	0.00	2.12	15.05	0.823	9222	0.000	0.023	2670	2295	2029	1993	2066	0	0	0	0	0	0	28.83	25.98	25.10
4793	1.42	198.9	2669	2295	1981	2049	271.9	8.8	275	4805	0.00	0.00	9.82	0.825	8198	0.000	0.000	2670	2294	1984	1948	2020	0	0	0	0	0	0	28.83	28.83	25.28
5093	1.43	202.2	2669	2295	1941	2006	244.3	9.1	290	5099	0.00	2.17	0.00	0.000	516	0.000	0.041	2681	892	1973	1941	2006	0	0	0	0	0	0	28.83	26.28	28.83
5256	1.44	206.9	2680	891	1940	2006	230.8	9.1	297	5269	0.00	2.08	5.10	0.733	9222	0.000	0.018	2680	2295	1950	1915	1985	0	0	0	0	0	0	28.83	26.43	25.44
5588	1.47	217.1	2680	2295	1915	1987	199.7	8.9	314	5608	0.00	0.00	13.23	0.783	8198	0.000	0.000	2680	2296	1905	1875	1935	0	0	0	0	0	0	28.83	28.83	25.53
5908	1.48	222.9	2680	2296	1874	1929	170.4	9.0	330	5919	0.00	2.12	4.50	0.692	8452	0.000	0.033	2681	3694	1885	1857	1913	0	0	0	0	0	0	28.83	26.34	25.37
6039	1.50	227.6	1696	3693	1811	1904	158.8	9.1	336	6052	0.00	2.10	6.97	0.767	9222	0.000	0.024	2690	2304	1865	1836	1894	0	0	0	0	0	0	28.83	26.42	25.54
6360	1.50	227.6	2690	2304	1835	1887	129.4	9.4	352	6366	0.00	2.17	0.00	0.000	516	0.000	0.042	2701	895	1861	1835	1888	0	0	0	0	0	0	28.83	26.41	28.83
6428	1.51	232.8	2700	895	1835	1888	123.3	9.1	355	6439	0.00	2.10	4.78	0.698	9222	0.000	0.018	2701	2309	1844	1816	1872	0	0	0	0	0	0	28.83	26.50	25.43
6754	1.53	239.5	2701	2309	1816	1872	94.3	9.0	371	6765	0.00	0.00	9.05	0.733	8198	0.000	0.000	2701	2309	1817	1788	1847	0	0	0	0	0	0	28.83	28.83	25.65
7054	1.59	265.3	2701	2309	1783	1839	67.7	8.3	386	7083	0.00	0.00	26.65	0.692	8198	0.000	0.000	2701	2309	1712	1677	1747	0	0	0	0	0	0	28.83	28.83	25.46
7375	1.60	270.2	2701	2309	1671	1733	38.9	9.1	408	7384	0.00	2.17	3.08	0.464	8452	0.000	0.035	2701	3688	1692	1658	1726	0	0	0	0	0	0	28.83	26.31	25.36
7409	1.63	279.4	2701	3688	1658	1726	35.8	8.9	411	7428	0.00	2.12	11.88	0.685	9222	0.000	0.025	2711	2298	1650	1606	1695	0	0	0	0	0	0	28.83	26.34	25.53
7746	1.64	283.2	2711	2298	1599	1691	5.2	9.1	462	7754	0.00	2.15	0.00	0.000	260	0.000	0.034	2711	3694	1645	1599	1692	0	0	0	0	0	0	28.83	26.37	28.83
7771	end climb: SURFACE_DEPTH_REACHED
state	7771	begin surface coast
7808	end surface coast: CONTROL_FINISHED_OK
state	7808	begin surface