Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 117 * 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 117 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 39 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 57 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 -100641.57 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 -100641.57

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 39 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 57 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 117 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 170313,092522,1905.963,12008.082,580,0.9,580,-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 -66.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170313,093153,1906.059,12008.055,16,1.3,16,-2.5 MHEAD_RNG_PITCHd_Wd 319.8,294684,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2931

Post-dive calculations and measurements:

FINISH 0.0,1.026396 _10V_AH 10.1,12.853

SM_CCo 7816,256.23,0.864,1,0,512,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.38,0.47,256.23,0.076,0.042,0.864,86,1958,512,-10.40,1.13,560.02,0,0,0,0,1,0,26.39,26.44,24.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1857.82,12008.17,170313,060601 MEM 323944

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16817,467

HUMID 48.89 CAP_FILE_SIZE 396053,2008

INTERNAL_PRESSURE 9.02877 CFSIZE 260034560,237211648

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

XPDR_PINGS 0 CURRENT 0.143, 53.9,1

SC_FREEKB 3978112 GPS 170313,115637,1906.802,12008.132,540,1.3,540,-2.5

_24V_AH 24.3,20.945

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 235 99.91 nil 0 0 0.00

Roll_motor 64 44 69.46 nil 0 0 0.00

VBD_pump_during_apogee 384 901 8433.67 nil 0 0 0.00

VBD_pump_during_surface 256 864 5382.30 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 7802 7 1367.31

Iridium_during_xfer 230 130 731.44 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.30

TT8 1919 14 280.40

LPSleep 3991 2 88.29

TT8_Active 738 14 107.78

TT8_Sampling 1530 39 605.63

TT8_CF8 273 46 129.02

TT8_Kalman 0 0 0.00

Analog_circuits 1753 15 274.46

GPS_charging 0 0 0.00

Compass 1296 7 98.12

RAFOS 0 0 0.00

Transponder 1 5 0.07

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.35 -170.3 84 1957 459 553 0.0 0.0 0 50 0.00 0.00 -30.92 0.000 16386 0.000 0.000 85 1955 1294 1265 1324 0 0 0 0 0 0 28.83 28.83 28.83

53 -1.35 -170.3 84 1955 1265 1327 3.6 -8.7 4 138 8.15 2.22 -71.18 0.000 18692 0.236 0.044 2052 3372 3493 3408 3578 0 0 0 0 0 0 25.86 26.20 26.47

147 -1.35 -170.3 2052 3373 3408 3579 12.5 -9.1 16 155 0.00 2.12 0.00 0.000 1030 0.000 0.023 2060 1963 3494 3409 3580 0 0 0 0 0 0 28.83 26.22 28.83

467 -1.35 -170.3 2060 1963 3413 3580 41.6 -9.2 59 472 0.00 2.12 0.00 0.000 516 0.000 0.040 2070 571 3496 3413 3580 0 0 0 0 0 0 28.83 26.39 28.83

481 -1.35 -170.3 2070 571 3413 3580 42.9 -9.0 60 487 0.00 2.05 0.00 0.000 1030 0.000 0.015 2062 2002 3496 3413 3580 0 0 0 0 0 0 28.83 26.47 28.83

806 -1.35 -170.3 2062 2004 3416 3580 72.3 -9.2 80 812 0.00 2.00 0.00 0.000 260 0.000 0.030 2052 3349 3498 3416 3580 0 0 0 0 0 0 28.83 26.51 28.83

1055 -1.35 -170.3 2052 3349 3416 3582 93.6 -8.9 91 1061 0.00 2.05 0.00 0.000 1030 0.000 0.024 2060 1968 3498 3416 3580 0 0 0 0 0 0 28.83 26.58 28.83

1369 -1.35 -170.3 2059 1968 3416 3581 123.2 -8.9 107 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2060 1968 3498 3416 3581 0 0 0 0 0 0 28.83 28.83 28.83

1671 -1.35 -170.3 2060 1968 3418 3579 150.4 -9.2 122 1676 0.00 2.12 0.00 0.000 516 0.000 0.041 2070 572 3499 3418 3580 0 0 0 0 0 0 28.83 26.61 28.83

1768 -1.35 -170.3 2070 572 3418 3580 158.2 -9.0 126 1774 0.00 2.00 0.00 0.000 1030 0.000 0.015 2062 1972 3499 3418 3580 0 0 0 0 0 0 28.83 26.70 28.83

2082 -1.35 -170.3 2062 1972 3417 3577 187.5 -9.0 142 2083 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 1972 3497 3417 3578 0 0 0 0 0 0 28.83 28.83 28.83

2385 -1.35 -170.3 2062 1973 3417 3573 214.0 -8.5 157 2390 0.00 2.15 0.00 0.000 516 0.000 0.040 2070 574 3495 3417 3573 0 0 0 0 0 0 28.83 26.65 28.83

2476 -1.35 -170.3 2070 574 3417 3573 222.1 -9.1 161 2482 0.00 2.00 0.00 0.000 1030 0.000 0.015 2062 1974 3495 3417 3573 0 0 0 0 0 0 28.83 26.73 28.83

2797 -1.35 -170.3 2061 1974 3417 3569 251.2 -8.8 177 2803 0.00 2.15 0.00 0.000 516 0.000 0.040 2070 572 3492 3416 3569 0 0 0 0 0 0 28.83 26.67 28.83

2827 -1.35 -170.3 2069 572 3416 3569 253.5 -8.8 178 2833 0.00 2.03 0.00 0.000 1030 0.000 0.016 2062 1983 3492 3416 3569 0 0 0 0 0 0 28.83 26.74 28.83

3147 -1.35 -170.3 2061 1984 3414 3566 283.2 -9.2 194 3148 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 1984 3490 3414 3566 0 0 0 0 0 0 28.83 28.83 28.83

3448 -1.35 -170.3 2061 1984 3410 3565 310.3 -9.3 209 3453 0.00 2.03 0.00 0.000 260 0.000 0.031 2051 3353 3487 3411 3564 0 0 0 0 0 0 28.83 26.69 28.83

3497 -1.35 -170.3 1256 3352 3394 3561 314.4 -9.0 211 3503 0.00 2.05 0.00 0.000 1030 0.000 0.025 2057 1976 3487 3411 3563 0 0 0 0 0 0 28.83 26.71 28.83

3818 -1.35 -170.3 2056 1976 3409 3561 343.1 -8.7 227 3824 0.00 2.15 0.00 0.000 516 0.000 0.044 2066 570 3485 3409 3561 0 0 0 0 0 0 28.83 26.67 28.83

3905 end dive: TARGET_DEPTH_EXCEEDED

state 3905 begin apogee

3912 -0.25 0.0 2055 2290 3408 3561 351.1 -8.9 231 4069 0.77 0.00 147.60 0.902 10246 0.125 0.000 2307 2290 2788 2750 2827 0 0 0 0 0 0 26.53 28.83 24.45

4070 end apogee: CONTROL_FINISHED_OK

state 4071 begin climb

4072 1.35 170.3 2306 2290 2747 2823 336.8 0.0 238 4235 1.02 2.30 151.95 0.887 10500 0.069 0.034 2666 3716 2089 2051 2128 0 0 0 0 0 0 25.24 24.96 24.29

4466 1.38 181.0 1672 3716 1992 2103 301.0 8.9 256 4477 0.00 2.17 4.05 0.653 9222 0.000 0.023 2677 2296 2056 2020 2093 0 0 0 0 0 0 28.83 25.96 24.98

4791 1.39 185.9 2676 2295 2020 2101 271.7 9.1 272 4808 0.00 2.22 8.98 0.835 8708 0.000 0.041 2687 905 2033 1994 2072 0 0 0 0 0 0 28.83 26.09 25.32

4879 1.41 192.4 2686 905 1992 2069 263.7 9.0 276 4890 0.00 2.10 5.40 0.772 9222 0.000 0.018 2687 2311 2011 1972 2050 0 0 0 0 0 0 28.83 26.24 25.25

5204 1.41 194.3 2687 2311 1971 2048 234.6 9.2 292 5206 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2311 2009 1971 2048 0 0 0 0 0 0 28.83 28.83 28.83

5504 1.42 198.6 2687 2311 1972 2046 207.2 9.1 307 5521 0.00 2.15 8.00 0.800 8452 0.000 0.035 2687 3684 1981 1943 2020 0 0 0 0 0 0 28.83 26.32 25.54

5682 1.44 205.6 2687 3684 1942 2014 192.1 9.0 315 5697 0.00 2.10 7.65 0.795 9222 0.000 0.024 2697 2293 1953 1917 1989 0 0 0 0 0 0 28.83 26.42 25.51

5993 1.45 207.5 2697 2294 1916 1982 162.9 9.2 331 5999 0.00 2.15 0.00 0.000 260 0.000 0.034 2697 3692 1949 1916 1982 0 0 0 0 0 0 28.83 26.42 28.83

6075 1.45 209.6 2697 3692 1916 1982 156.7 9.2 334 6086 0.12 2.10 3.08 0.504 13318 0.190 0.025 2677 2301 1939 1905 1973 0 0 0 0 0 0 26.28 26.46 25.37

6383 1.46 211.5 2677 2301 1905 1973 127.9 9.2 350 6389 0.00 2.12 0.00 0.000 260 0.000 0.034 2677 3688 1939 1905 1973 0 0 0 0 0 0 28.83 26.50 28.83

6458 1.47 218.0 2677 3688 1905 1973 121.8 9.0 353 6477 0.00 2.10 10.88 0.757 9222 0.000 0.024 2687 2293 1901 1870 1932 0 0 0 0 0 0 28.83 26.53 25.63

6796 1.50 227.6 2686 2294 1870 1924 90.7 8.9 370 6812 0.00 2.17 9.85 0.741 8708 0.000 0.043 2697 897 1862 1834 1890 0 0 0 0 0 0 28.83 26.30 25.60

6907 1.51 233.3 2697 897 1831 1889 80.9 9.1 375 6919 0.00 2.08 4.57 0.669 9222 0.000 0.018 2697 2301 1842 1813 1872 0 0 0 0 0 0 28.83 26.43 25.39

7228 1.53 241.4 2697 2302 1813 1872 51.7 9.0 391 7245 0.00 2.20 10.70 0.718 8452 0.000 0.036 2697 3694 1804 1774 1834 0 0 0 0 0 0 28.83 26.29 25.60

7407 1.55 249.7 2697 3694 1774 1829 35.7 9.0 406 7422 0.00 2.12 8.20 0.702 9222 0.000 0.024 2707 2291 1774 1745 1804 0 0 0 0 0 0 28.83 26.40 25.56

7741 1.56 254.6 2707 2291 1742 1797 5.4 9.1 457 7749 0.00 0.00 3.90 0.565 8198 0.000 0.000 2707 2291 1756 1727 1785 0 0 0 0 0 0 28.83 28.83 25.44

7766 end climb: SURFACE_DEPTH_REACHED

state 7766 begin surface coast

7800 end surface coast: CONTROL_FINISHED_OK

state 7800 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	117	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	39	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	57	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	-100641.57	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	170313,092522,1905.963,12008.082,580,0.9,580,-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	-66.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170313,093153,1906.059,12008.055,16,1.3,16,-2.5	MHEAD_RNG_PITCHd_Wd	319.8,294684,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2931

FINISH	0.0,1.026396	_10V_AH	10.1,12.853
SM_CCo	7816,256.23,0.864,1,0,512,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.38,0.47,256.23,0.076,0.042,0.864,86,1958,512,-10.40,1.13,560.02,0,0,0,0,1,0,26.39,26.44,24.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1857.82,12008.17,170313,060601	MEM	323944
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16817,467
HUMID	48.89	CAP_FILE_SIZE	396053,2008
INTERNAL_PRESSURE	9.02877	CFSIZE	260034560,237211648
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.143, 53.9,1
SC_FREEKB	3978112	GPS	170313,115637,1906.802,12008.132,540,1.3,540,-2.5
_24V_AH	24.3,20.945

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	235	99.91	nil	0	0	0.00
Roll_motor	64	44	69.46	nil	0	0	0.00
VBD_pump_during_apogee	384	901	8433.67	nil	0	0	0.00
VBD_pump_during_surface	256	864	5382.30	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	7802	7	1367.31
Iridium_during_xfer	230	130	731.44	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.30
TT8	1919	14	280.40
LPSleep	3991	2	88.29
TT8_Active	738	14	107.78
TT8_Sampling	1530	39	605.63
TT8_CF8	273	46	129.02
TT8_Kalman	0	0	0.00
Analog_circuits	1753	15	274.46
GPS_charging	0	0	0.00
Compass	1296	7	98.12
RAFOS	0	0	0.00
Transponder	1	5	0.07

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.35	-170.3	84	1957	459	553	0.0	0.0	0	50	0.00	0.00	-30.92	0.000	16386	0.000	0.000	85	1955	1294	1265	1324	0	0	0	0	0	0	28.83	28.83	28.83
53	-1.35	-170.3	84	1955	1265	1327	3.6	-8.7	4	138	8.15	2.22	-71.18	0.000	18692	0.236	0.044	2052	3372	3493	3408	3578	0	0	0	0	0	0	25.86	26.20	26.47
147	-1.35	-170.3	2052	3373	3408	3579	12.5	-9.1	16	155	0.00	2.12	0.00	0.000	1030	0.000	0.023	2060	1963	3494	3409	3580	0	0	0	0	0	0	28.83	26.22	28.83
467	-1.35	-170.3	2060	1963	3413	3580	41.6	-9.2	59	472	0.00	2.12	0.00	0.000	516	0.000	0.040	2070	571	3496	3413	3580	0	0	0	0	0	0	28.83	26.39	28.83
481	-1.35	-170.3	2070	571	3413	3580	42.9	-9.0	60	487	0.00	2.05	0.00	0.000	1030	0.000	0.015	2062	2002	3496	3413	3580	0	0	0	0	0	0	28.83	26.47	28.83
806	-1.35	-170.3	2062	2004	3416	3580	72.3	-9.2	80	812	0.00	2.00	0.00	0.000	260	0.000	0.030	2052	3349	3498	3416	3580	0	0	0	0	0	0	28.83	26.51	28.83
1055	-1.35	-170.3	2052	3349	3416	3582	93.6	-8.9	91	1061	0.00	2.05	0.00	0.000	1030	0.000	0.024	2060	1968	3498	3416	3580	0	0	0	0	0	0	28.83	26.58	28.83
1369	-1.35	-170.3	2059	1968	3416	3581	123.2	-8.9	107	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2060	1968	3498	3416	3581	0	0	0	0	0	0	28.83	28.83	28.83
1671	-1.35	-170.3	2060	1968	3418	3579	150.4	-9.2	122	1676	0.00	2.12	0.00	0.000	516	0.000	0.041	2070	572	3499	3418	3580	0	0	0	0	0	0	28.83	26.61	28.83
1768	-1.35	-170.3	2070	572	3418	3580	158.2	-9.0	126	1774	0.00	2.00	0.00	0.000	1030	0.000	0.015	2062	1972	3499	3418	3580	0	0	0	0	0	0	28.83	26.70	28.83
2082	-1.35	-170.3	2062	1972	3417	3577	187.5	-9.0	142	2083	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	1972	3497	3417	3578	0	0	0	0	0	0	28.83	28.83	28.83
2385	-1.35	-170.3	2062	1973	3417	3573	214.0	-8.5	157	2390	0.00	2.15	0.00	0.000	516	0.000	0.040	2070	574	3495	3417	3573	0	0	0	0	0	0	28.83	26.65	28.83
2476	-1.35	-170.3	2070	574	3417	3573	222.1	-9.1	161	2482	0.00	2.00	0.00	0.000	1030	0.000	0.015	2062	1974	3495	3417	3573	0	0	0	0	0	0	28.83	26.73	28.83
2797	-1.35	-170.3	2061	1974	3417	3569	251.2	-8.8	177	2803	0.00	2.15	0.00	0.000	516	0.000	0.040	2070	572	3492	3416	3569	0	0	0	0	0	0	28.83	26.67	28.83
2827	-1.35	-170.3	2069	572	3416	3569	253.5	-8.8	178	2833	0.00	2.03	0.00	0.000	1030	0.000	0.016	2062	1983	3492	3416	3569	0	0	0	0	0	0	28.83	26.74	28.83
3147	-1.35	-170.3	2061	1984	3414	3566	283.2	-9.2	194	3148	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	1984	3490	3414	3566	0	0	0	0	0	0	28.83	28.83	28.83
3448	-1.35	-170.3	2061	1984	3410	3565	310.3	-9.3	209	3453	0.00	2.03	0.00	0.000	260	0.000	0.031	2051	3353	3487	3411	3564	0	0	0	0	0	0	28.83	26.69	28.83
3497	-1.35	-170.3	1256	3352	3394	3561	314.4	-9.0	211	3503	0.00	2.05	0.00	0.000	1030	0.000	0.025	2057	1976	3487	3411	3563	0	0	0	0	0	0	28.83	26.71	28.83
3818	-1.35	-170.3	2056	1976	3409	3561	343.1	-8.7	227	3824	0.00	2.15	0.00	0.000	516	0.000	0.044	2066	570	3485	3409	3561	0	0	0	0	0	0	28.83	26.67	28.83
3905	end dive: TARGET_DEPTH_EXCEEDED
state	3905	begin apogee
3912	-0.25	0.0	2055	2290	3408	3561	351.1	-8.9	231	4069	0.77	0.00	147.60	0.902	10246	0.125	0.000	2307	2290	2788	2750	2827	0	0	0	0	0	0	26.53	28.83	24.45
4070	end apogee: CONTROL_FINISHED_OK
state	4071	begin climb
4072	1.35	170.3	2306	2290	2747	2823	336.8	0.0	238	4235	1.02	2.30	151.95	0.887	10500	0.069	0.034	2666	3716	2089	2051	2128	0	0	0	0	0	0	25.24	24.96	24.29
4466	1.38	181.0	1672	3716	1992	2103	301.0	8.9	256	4477	0.00	2.17	4.05	0.653	9222	0.000	0.023	2677	2296	2056	2020	2093	0	0	0	0	0	0	28.83	25.96	24.98
4791	1.39	185.9	2676	2295	2020	2101	271.7	9.1	272	4808	0.00	2.22	8.98	0.835	8708	0.000	0.041	2687	905	2033	1994	2072	0	0	0	0	0	0	28.83	26.09	25.32
4879	1.41	192.4	2686	905	1992	2069	263.7	9.0	276	4890	0.00	2.10	5.40	0.772	9222	0.000	0.018	2687	2311	2011	1972	2050	0	0	0	0	0	0	28.83	26.24	25.25
5204	1.41	194.3	2687	2311	1971	2048	234.6	9.2	292	5206	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2311	2009	1971	2048	0	0	0	0	0	0	28.83	28.83	28.83
5504	1.42	198.6	2687	2311	1972	2046	207.2	9.1	307	5521	0.00	2.15	8.00	0.800	8452	0.000	0.035	2687	3684	1981	1943	2020	0	0	0	0	0	0	28.83	26.32	25.54
5682	1.44	205.6	2687	3684	1942	2014	192.1	9.0	315	5697	0.00	2.10	7.65	0.795	9222	0.000	0.024	2697	2293	1953	1917	1989	0	0	0	0	0	0	28.83	26.42	25.51
5993	1.45	207.5	2697	2294	1916	1982	162.9	9.2	331	5999	0.00	2.15	0.00	0.000	260	0.000	0.034	2697	3692	1949	1916	1982	0	0	0	0	0	0	28.83	26.42	28.83
6075	1.45	209.6	2697	3692	1916	1982	156.7	9.2	334	6086	0.12	2.10	3.08	0.504	13318	0.190	0.025	2677	2301	1939	1905	1973	0	0	0	0	0	0	26.28	26.46	25.37
6383	1.46	211.5	2677	2301	1905	1973	127.9	9.2	350	6389	0.00	2.12	0.00	0.000	260	0.000	0.034	2677	3688	1939	1905	1973	0	0	0	0	0	0	28.83	26.50	28.83
6458	1.47	218.0	2677	3688	1905	1973	121.8	9.0	353	6477	0.00	2.10	10.88	0.757	9222	0.000	0.024	2687	2293	1901	1870	1932	0	0	0	0	0	0	28.83	26.53	25.63
6796	1.50	227.6	2686	2294	1870	1924	90.7	8.9	370	6812	0.00	2.17	9.85	0.741	8708	0.000	0.043	2697	897	1862	1834	1890	0	0	0	0	0	0	28.83	26.30	25.60
6907	1.51	233.3	2697	897	1831	1889	80.9	9.1	375	6919	0.00	2.08	4.57	0.669	9222	0.000	0.018	2697	2301	1842	1813	1872	0	0	0	0	0	0	28.83	26.43	25.39
7228	1.53	241.4	2697	2302	1813	1872	51.7	9.0	391	7245	0.00	2.20	10.70	0.718	8452	0.000	0.036	2697	3694	1804	1774	1834	0	0	0	0	0	0	28.83	26.29	25.60
7407	1.55	249.7	2697	3694	1774	1829	35.7	9.0	406	7422	0.00	2.12	8.20	0.702	9222	0.000	0.024	2707	2291	1774	1745	1804	0	0	0	0	0	0	28.83	26.40	25.56
7741	1.56	254.6	2707	2291	1742	1797	5.4	9.1	457	7749	0.00	0.00	3.90	0.565	8198	0.000	0.000	2707	2291	1756	1727	1785	0	0	0	0	0	0	28.83	28.83	25.44
7766	end climb: SURFACE_DEPTH_REACHED
state	7766	begin surface coast
7800	end surface coast: CONTROL_FINISHED_OK
state	7800	begin surface