Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 151 * 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 151 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 52 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 58 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 2640 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 -100684.41 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 2400 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 -100684.41

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 2400 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 2640 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 52 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 58 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 151 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 200313,204534,1942.066,12006.140,134,1.4,134,-2.6 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 -63.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,205223,1942.122,12006.160,14,1.1,15,-2.6 MHEAD_RNG_PITCHd_Wd 341.8,227816,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3998

Post-dive calculations and measurements:

FINISH 2.3,1.025098 _10V_AH 10.1,15.013

SM_CCo 8040,1.65,0.146,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.60,2.70,1.65,0.078,0.028,0.146,86,1972,401,-10.56,1.10,549.47,0,0,0,0,0,0,26.35,26.37,25.12 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1934.38,12000.88,200313,181848 MEM 323852

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16785,465

HUMID 48.93 CAP_FILE_SIZE 346788,1776

INTERNAL_PRESSURE 9.11667 CFSIZE 260034560,233603072

TCM_TEMP 18.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0

XPDR_PINGS 0 CURRENT 0.084, 71.0,1

SC_FREEKB 3965056 GPS 200313,230924,1942.936,12006.163,113,1.2,113,-2.6

_24V_AH 24.3,26.224

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 226 96.57 nil 0 0 0.00

Roll_motor 60 42 62.88 nil 0 0 0.00

VBD_pump_during_apogee 457 966 10736.74 nil 0 0 0.00

VBD_pump_during_surface 209 709 3617.53 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 7798 5 1121.22

Iridium_during_xfer 243 131 777.29 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 4.96

TT8 1769 14 258.41

LPSleep 4189 2 92.67

TT8_Active 772 14 112.79

TT8_Sampling 1423 39 563.31

TT8_CF8 280 46 132.38

TT8_Kalman 0 0 0.00

Analog_circuits 1775 15 277.97

GPS_charging 0 0 0.00

Compass 1181 7 89.40

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 83 1946 344 495 0.0 0.0 0 51 0.00 0.00 -30.67 0.000 16386 0.000 0.000 82 1946 1204 1176 1233 0 0 0 0 0 0 28.83 28.83 28.83

53 -1.35 -170.3 82 1946 1177 1234 3.4 -8.8 4 145 8.12 2.25 -76.53 0.000 18692 0.226 0.043 2089 3377 3336 3242 3431 0 0 0 0 0 0 25.79 26.16 26.44

282 -1.35 -170.3 1248 3375 3215 3428 24.2 -9.0 41 291 0.00 2.10 0.00 0.000 1030 0.000 0.024 2097 1979 3337 3244 3431 0 0 0 0 0 0 28.83 26.29 28.83

609 -1.35 -170.3 2097 1979 3248 3431 53.9 -9.1 72 615 0.00 2.12 0.00 0.000 516 0.000 0.038 2107 575 3339 3248 3431 0 0 0 0 0 0 28.83 26.43 28.83

718 -1.35 -170.3 2107 575 3249 3431 63.6 -8.9 77 724 0.00 2.05 0.00 0.000 1030 0.000 0.015 2099 1999 3340 3249 3431 0 0 0 0 0 0 28.83 26.53 28.83

1042 -1.35 -170.3 2099 2000 3252 3430 92.4 -9.0 93 1044 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2000 3341 3251 3431 0 0 0 0 0 0 28.83 28.83 28.83

1346 -1.35 -170.3 2099 2000 3251 3431 119.5 -8.9 108 1352 0.00 2.20 0.00 0.000 516 0.000 0.037 2107 566 3341 3252 3431 0 0 0 0 0 0 28.83 26.58 28.83

1470 -1.35 -170.3 2107 566 3252 3431 129.5 -9.0 113 1479 0.00 2.03 0.00 0.000 1030 0.000 0.015 2099 1984 3341 3252 3431 0 0 0 0 0 0 28.83 26.67 28.83

1778 -1.35 -170.3 2099 1984 3252 3429 157.9 -8.8 129 1785 0.00 2.03 0.00 0.000 260 0.000 0.031 2089 3357 3340 3251 3429 0 0 0 0 0 0 28.83 26.63 28.83

1808 -1.35 -170.3 2088 3357 3251 3428 160.1 -8.9 130 1814 0.00 2.05 0.00 0.000 1030 0.000 0.024 2095 1974 3340 3252 3428 0 0 0 0 0 0 28.83 26.65 28.83

2128 -1.35 -170.3 2095 1974 3252 3426 188.9 -8.5 146 2134 0.00 2.12 0.00 0.000 516 0.000 0.041 2105 570 3338 3251 3425 0 0 0 0 0 0 28.83 26.63 28.83

2195 -1.35 -170.3 2105 570 3251 3425 194.8 -9.1 149 2201 0.00 2.00 0.00 0.000 1030 0.000 0.016 2097 1970 3338 3251 3425 0 0 0 0 0 0 28.83 26.70 28.83

2519 -1.35 -170.3 2096 1974 3252 3421 224.0 -9.0 165 2520 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 1974 3336 3251 3421 0 0 0 0 0 0 28.83 28.83 28.83

2822 -1.35 -170.3 2096 1974 3252 3417 250.4 -8.9 180 2828 0.00 2.15 0.00 0.000 516 0.000 0.041 2105 571 3334 3252 3417 0 0 0 0 0 0 28.83 26.64 28.83

2858 -1.35 -170.3 2105 571 3252 3417 252.9 -9.0 181 2864 0.00 2.03 0.00 0.000 1030 0.000 0.016 2097 1977 3334 3252 3417 0 0 0 0 0 0 28.83 26.72 28.83

3172 -1.35 -170.3 2096 1978 3252 3413 282.5 -8.9 197 3174 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 1978 3333 3252 3414 0 0 0 0 0 0 28.83 28.83 28.83

3475 -1.35 -170.3 2097 1978 3250 3410 309.4 -9.0 212 3480 0.00 2.05 0.00 0.000 260 0.000 0.032 2087 3359 3329 3249 3410 0 0 0 0 0 0 28.83 26.66 28.83

3504 -1.35 -170.3 2086 3358 3249 3410 311.9 -9.0 213 3511 0.00 2.08 0.00 0.000 1030 0.000 0.027 2090 1970 3329 3249 3410 0 0 0 0 0 0 28.83 26.67 28.83

3824 -1.35 -170.3 2090 1970 3248 3408 341.1 -9.5 229 3830 0.00 2.10 0.00 0.000 260 0.000 0.032 2081 3356 3328 3248 3408 0 0 0 0 0 0 28.83 26.66 28.83

3864 -1.35 -170.3 2081 3356 3248 3408 343.2 -9.3 230 3872 0.10 2.08 0.00 0.000 3078 0.161 0.028 2107 1974 3327 3247 3408 0 0 0 0 0 0 26.51 26.67 28.83

3929 end dive: TARGET_DEPTH_EXCEEDED

state 3929 begin apogee

3934 -0.25 0.0 2106 2302 3247 3407 350.5 -9.0 234 4098 0.73 0.00 152.93 0.966 10246 0.117 0.000 2345 2303 2640 2590 2690 0 0 0 0 1 0 26.50 28.83 24.29

4101 end apogee: CONTROL_FINISHED_OK

state 4101 begin climb

4102 1.35 170.3 2345 2303 2590 2689 335.7 0.0 241 4283 1.00 2.30 170.05 0.801 10500 0.056 0.033 2703 3688 1938 1903 1973 0 0 0 0 0 0 25.17 25.02 24.44

4523 1.37 178.9 2703 3688 1897 1953 297.2 8.9 260 4530 0.00 2.12 2.22 0.180 9222 0.000 0.024 2713 2304 1909 1881 1937 0 0 0 0 0 0 28.83 25.99 24.97

4843 1.39 183.7 2713 2304 1879 1944 267.4 9.1 276 4851 0.00 2.20 3.45 0.479 8452 0.000 0.031 2713 3680 1890 1860 1921 0 0 0 0 0 0 28.83 26.25 25.26

4896 1.41 194.8 2713 3683 1860 1923 263.2 8.9 278 4924 0.00 2.10 16.85 0.771 9222 0.000 0.024 2723 2299 1843 1814 1873 0 0 0 0 1 0 28.83 26.29 25.31

5240 1.41 194.8 2723 2299 1813 1871 231.5 9.4 295 5246 0.00 2.12 0.00 0.000 260 0.000 0.032 2723 3683 1842 1813 1871 0 0 0 0 0 0 28.83 26.33 28.83

5340 1.45 208.4 1760 3682 1770 1862 223.8 8.8 299 5363 0.00 2.10 15.15 0.752 9222 0.000 0.024 2733 2295 1785 1753 1817 0 0 0 0 0 0 28.83 26.39 25.44

5674 1.48 220.3 2733 2295 1750 1811 192.9 8.8 316 5692 0.00 0.00 12.35 0.737 8198 0.000 0.000 2733 2295 1734 1702 1767 0 0 0 0 0 0 28.83 28.83 25.48

5992 1.50 227.7 2733 2295 1701 1762 164.3 9.0 332 6000 0.00 0.00 5.47 0.690 8198 0.000 0.000 2733 2295 1711 1678 1745 0 0 0 0 0 0 28.83 28.83 25.51

6294 1.52 236.5 2732 2295 1678 1745 137.3 8.9 347 6312 0.00 0.00 11.62 0.684 8198 0.000 0.000 2733 2295 1669 1633 1706 0 0 0 0 0 0 28.83 28.83 25.60

6613 1.54 243.9 2733 2295 1632 1700 108.3 9.0 363 6620 0.00 0.00 5.28 0.644 8198 0.000 0.000 2733 2295 1645 1604 1686 0 0 0 0 0 0 28.83 28.83 25.58

6913 1.59 266.4 2733 2295 1604 1686 82.1 8.4 378 6949 0.00 2.20 25.42 0.615 8452 0.000 0.032 2733 3676 1547 1497 1598 0 0 0 0 0 0 28.83 26.15 25.55

6996 1.63 279.1 2732 3676 1497 1594 76.0 8.8 381 7016 0.00 2.12 13.27 0.614 9222 0.000 0.025 2743 2292 1498 1446 1550 0 0 0 0 0 0 28.83 26.22 25.46

7321 1.65 289.2 2742 2292 1445 1539 44.7 8.9 400 7338 0.00 2.25 9.93 0.593 8708 0.000 0.043 2753 891 1455 1408 1503 0 0 0 0 0 0 28.83 26.19 25.58

7405 1.67 298.2 2753 891 1408 1500 37.5 8.9 407 7420 0.00 2.08 9.45 0.587 9222 0.000 0.018 2753 2292 1422 1377 1467 0 0 0 0 0 0 28.83 26.32 25.54

7736 1.69 303.6 2753 2293 1374 1455 7.5 9.1 456 7746 0.00 2.20 3.85 0.480 8452 0.000 0.034 2753 3690 1402 1364 1440 0 0 0 0 0 0 28.83 26.34 25.46

7785 end climb: SURFACE_DEPTH_REACHED

state 7785 begin surface coast

7792 end surface coast: CONTROL_FINISHED_OK

state 7792 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	151	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	52	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	58	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	2640	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	-100684.41	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	2400	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	200313,204534,1942.066,12006.140,134,1.4,134,-2.6	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	-63.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,205223,1942.122,12006.160,14,1.1,15,-2.6	MHEAD_RNG_PITCHd_Wd	341.8,227816,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3998

FINISH	2.3,1.025098	_10V_AH	10.1,15.013
SM_CCo	8040,1.65,0.146,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.60,2.70,1.65,0.078,0.028,0.146,86,1972,401,-10.56,1.10,549.47,0,0,0,0,0,0,26.35,26.37,25.12	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1934.38,12000.88,200313,181848	MEM	323852
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16785,465
HUMID	48.93	CAP_FILE_SIZE	346788,1776
INTERNAL_PRESSURE	9.11667	CFSIZE	260034560,233603072
TCM_TEMP	18.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
XPDR_PINGS	0	CURRENT	0.084, 71.0,1
SC_FREEKB	3965056	GPS	200313,230924,1942.936,12006.163,113,1.2,113,-2.6
_24V_AH	24.3,26.224

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	226	96.57	nil	0	0	0.00
Roll_motor	60	42	62.88	nil	0	0	0.00
VBD_pump_during_apogee	457	966	10736.74	nil	0	0	0.00
VBD_pump_during_surface	209	709	3617.53	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	7798	5	1121.22
Iridium_during_xfer	243	131	777.29	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	4.96
TT8	1769	14	258.41
LPSleep	4189	2	92.67
TT8_Active	772	14	112.79
TT8_Sampling	1423	39	563.31
TT8_CF8	280	46	132.38
TT8_Kalman	0	0	0.00
Analog_circuits	1775	15	277.97
GPS_charging	0	0	0.00
Compass	1181	7	89.40
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	83	1946	344	495	0.0	0.0	0	51	0.00	0.00	-30.67	0.000	16386	0.000	0.000	82	1946	1204	1176	1233	0	0	0	0	0	0	28.83	28.83	28.83
53	-1.35	-170.3	82	1946	1177	1234	3.4	-8.8	4	145	8.12	2.25	-76.53	0.000	18692	0.226	0.043	2089	3377	3336	3242	3431	0	0	0	0	0	0	25.79	26.16	26.44
282	-1.35	-170.3	1248	3375	3215	3428	24.2	-9.0	41	291	0.00	2.10	0.00	0.000	1030	0.000	0.024	2097	1979	3337	3244	3431	0	0	0	0	0	0	28.83	26.29	28.83
609	-1.35	-170.3	2097	1979	3248	3431	53.9	-9.1	72	615	0.00	2.12	0.00	0.000	516	0.000	0.038	2107	575	3339	3248	3431	0	0	0	0	0	0	28.83	26.43	28.83
718	-1.35	-170.3	2107	575	3249	3431	63.6	-8.9	77	724	0.00	2.05	0.00	0.000	1030	0.000	0.015	2099	1999	3340	3249	3431	0	0	0	0	0	0	28.83	26.53	28.83
1042	-1.35	-170.3	2099	2000	3252	3430	92.4	-9.0	93	1044	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2000	3341	3251	3431	0	0	0	0	0	0	28.83	28.83	28.83
1346	-1.35	-170.3	2099	2000	3251	3431	119.5	-8.9	108	1352	0.00	2.20	0.00	0.000	516	0.000	0.037	2107	566	3341	3252	3431	0	0	0	0	0	0	28.83	26.58	28.83
1470	-1.35	-170.3	2107	566	3252	3431	129.5	-9.0	113	1479	0.00	2.03	0.00	0.000	1030	0.000	0.015	2099	1984	3341	3252	3431	0	0	0	0	0	0	28.83	26.67	28.83
1778	-1.35	-170.3	2099	1984	3252	3429	157.9	-8.8	129	1785	0.00	2.03	0.00	0.000	260	0.000	0.031	2089	3357	3340	3251	3429	0	0	0	0	0	0	28.83	26.63	28.83
1808	-1.35	-170.3	2088	3357	3251	3428	160.1	-8.9	130	1814	0.00	2.05	0.00	0.000	1030	0.000	0.024	2095	1974	3340	3252	3428	0	0	0	0	0	0	28.83	26.65	28.83
2128	-1.35	-170.3	2095	1974	3252	3426	188.9	-8.5	146	2134	0.00	2.12	0.00	0.000	516	0.000	0.041	2105	570	3338	3251	3425	0	0	0	0	0	0	28.83	26.63	28.83
2195	-1.35	-170.3	2105	570	3251	3425	194.8	-9.1	149	2201	0.00	2.00	0.00	0.000	1030	0.000	0.016	2097	1970	3338	3251	3425	0	0	0	0	0	0	28.83	26.70	28.83
2519	-1.35	-170.3	2096	1974	3252	3421	224.0	-9.0	165	2520	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	1974	3336	3251	3421	0	0	0	0	0	0	28.83	28.83	28.83
2822	-1.35	-170.3	2096	1974	3252	3417	250.4	-8.9	180	2828	0.00	2.15	0.00	0.000	516	0.000	0.041	2105	571	3334	3252	3417	0	0	0	0	0	0	28.83	26.64	28.83
2858	-1.35	-170.3	2105	571	3252	3417	252.9	-9.0	181	2864	0.00	2.03	0.00	0.000	1030	0.000	0.016	2097	1977	3334	3252	3417	0	0	0	0	0	0	28.83	26.72	28.83
3172	-1.35	-170.3	2096	1978	3252	3413	282.5	-8.9	197	3174	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	1978	3333	3252	3414	0	0	0	0	0	0	28.83	28.83	28.83
3475	-1.35	-170.3	2097	1978	3250	3410	309.4	-9.0	212	3480	0.00	2.05	0.00	0.000	260	0.000	0.032	2087	3359	3329	3249	3410	0	0	0	0	0	0	28.83	26.66	28.83
3504	-1.35	-170.3	2086	3358	3249	3410	311.9	-9.0	213	3511	0.00	2.08	0.00	0.000	1030	0.000	0.027	2090	1970	3329	3249	3410	0	0	0	0	0	0	28.83	26.67	28.83
3824	-1.35	-170.3	2090	1970	3248	3408	341.1	-9.5	229	3830	0.00	2.10	0.00	0.000	260	0.000	0.032	2081	3356	3328	3248	3408	0	0	0	0	0	0	28.83	26.66	28.83
3864	-1.35	-170.3	2081	3356	3248	3408	343.2	-9.3	230	3872	0.10	2.08	0.00	0.000	3078	0.161	0.028	2107	1974	3327	3247	3408	0	0	0	0	0	0	26.51	26.67	28.83
3929	end dive: TARGET_DEPTH_EXCEEDED
state	3929	begin apogee
3934	-0.25	0.0	2106	2302	3247	3407	350.5	-9.0	234	4098	0.73	0.00	152.93	0.966	10246	0.117	0.000	2345	2303	2640	2590	2690	0	0	0	0	1	0	26.50	28.83	24.29
4101	end apogee: CONTROL_FINISHED_OK
state	4101	begin climb
4102	1.35	170.3	2345	2303	2590	2689	335.7	0.0	241	4283	1.00	2.30	170.05	0.801	10500	0.056	0.033	2703	3688	1938	1903	1973	0	0	0	0	0	0	25.17	25.02	24.44
4523	1.37	178.9	2703	3688	1897	1953	297.2	8.9	260	4530	0.00	2.12	2.22	0.180	9222	0.000	0.024	2713	2304	1909	1881	1937	0	0	0	0	0	0	28.83	25.99	24.97
4843	1.39	183.7	2713	2304	1879	1944	267.4	9.1	276	4851	0.00	2.20	3.45	0.479	8452	0.000	0.031	2713	3680	1890	1860	1921	0	0	0	0	0	0	28.83	26.25	25.26
4896	1.41	194.8	2713	3683	1860	1923	263.2	8.9	278	4924	0.00	2.10	16.85	0.771	9222	0.000	0.024	2723	2299	1843	1814	1873	0	0	0	0	1	0	28.83	26.29	25.31
5240	1.41	194.8	2723	2299	1813	1871	231.5	9.4	295	5246	0.00	2.12	0.00	0.000	260	0.000	0.032	2723	3683	1842	1813	1871	0	0	0	0	0	0	28.83	26.33	28.83
5340	1.45	208.4	1760	3682	1770	1862	223.8	8.8	299	5363	0.00	2.10	15.15	0.752	9222	0.000	0.024	2733	2295	1785	1753	1817	0	0	0	0	0	0	28.83	26.39	25.44
5674	1.48	220.3	2733	2295	1750	1811	192.9	8.8	316	5692	0.00	0.00	12.35	0.737	8198	0.000	0.000	2733	2295	1734	1702	1767	0	0	0	0	0	0	28.83	28.83	25.48
5992	1.50	227.7	2733	2295	1701	1762	164.3	9.0	332	6000	0.00	0.00	5.47	0.690	8198	0.000	0.000	2733	2295	1711	1678	1745	0	0	0	0	0	0	28.83	28.83	25.51
6294	1.52	236.5	2732	2295	1678	1745	137.3	8.9	347	6312	0.00	0.00	11.62	0.684	8198	0.000	0.000	2733	2295	1669	1633	1706	0	0	0	0	0	0	28.83	28.83	25.60
6613	1.54	243.9	2733	2295	1632	1700	108.3	9.0	363	6620	0.00	0.00	5.28	0.644	8198	0.000	0.000	2733	2295	1645	1604	1686	0	0	0	0	0	0	28.83	28.83	25.58
6913	1.59	266.4	2733	2295	1604	1686	82.1	8.4	378	6949	0.00	2.20	25.42	0.615	8452	0.000	0.032	2733	3676	1547	1497	1598	0	0	0	0	0	0	28.83	26.15	25.55
6996	1.63	279.1	2732	3676	1497	1594	76.0	8.8	381	7016	0.00	2.12	13.27	0.614	9222	0.000	0.025	2743	2292	1498	1446	1550	0	0	0	0	0	0	28.83	26.22	25.46
7321	1.65	289.2	2742	2292	1445	1539	44.7	8.9	400	7338	0.00	2.25	9.93	0.593	8708	0.000	0.043	2753	891	1455	1408	1503	0	0	0	0	0	0	28.83	26.19	25.58
7405	1.67	298.2	2753	891	1408	1500	37.5	8.9	407	7420	0.00	2.08	9.45	0.587	9222	0.000	0.018	2753	2292	1422	1377	1467	0	0	0	0	0	0	28.83	26.32	25.54
7736	1.69	303.6	2753	2293	1374	1455	7.5	9.1	456	7746	0.00	2.20	3.85	0.480	8452	0.000	0.034	2753	3690	1402	1364	1440	0	0	0	0	0	0	28.83	26.34	25.46
7785	end climb: SURFACE_DEPTH_REACHED
state	7785	begin surface coast
7792	end surface coast: CONTROL_FINISHED_OK
state	7792	begin surface