Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 160 * 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 160 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 400 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 51 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 64 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 144 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 160 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 190 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 -100695.84 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 400 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 190

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 144

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 -100695.84

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 160

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 51 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 64 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 160 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 210313,182223,1951.373,12005.825,120,0.7,120,-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 -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210313,182913,1951.391,12005.766,25,1.0,26,-2.6 MHEAD_RNG_PITCHd_Wd 336.0,210637,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3811

Post-dive calculations and measurements:

FINISH 0.0,1.024763 _10V_AH 10.1,15.548

SM_CCo 9140,1.45,0.102,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.57,0.52,1.45,0.073,0.034,0.102,81,1957,400,-10.57,1.05,549.47,0,0,0,0,0,0,26.34,26.37,25.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1941.24,12007.14,210313,161625 MEM 323828

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20051,523

HUMID 48.66 CAP_FILE_SIZE 383080,1951

INTERNAL_PRESSURE 9.14597 CFSIZE 260034560,232611840

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

XPDR_PINGS 0 CURRENT 0.103, 28.4,1

SC_FREEKB 3961600 GPS 210313,210343,1952.652,12005.509,61,0.8,62,-2.6

_24V_AH 24.2,27.538

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 211 89.55 nil 0 0 0.00

Roll_motor 68 45 76.45 nil 0 0 0.00

VBD_pump_during_apogee 468 1026 11632.79 nil 0 0 0.00

VBD_pump_during_surface 190 686 3165.75 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 8921 5 1200.12

Iridium_during_xfer 229 132 734.07 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 29 8.31

TT8 1959 14 286.15

LPSleep 4934 2 109.14

TT8_Active 788 14 115.15

TT8_Sampling 1533 39 606.72

TT8_CF8 319 46 150.51

TT8_Kalman 0 0 0.00

Analog_circuits 1842 15 288.43

GPS_charging 0 0 0.00

Compass 1307 7 98.91

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 82 1953 335 475 0.0 0.0 0 43 0.00 0.00 -23.83 0.000 16386 0.000 0.000 82 1952 1021 997 1045 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 82 1952 1002 1044 3.1 -9.1 3 161 7.80 2.22 -96.70 0.000 18692 0.211 0.044 2092 3363 3338 3250 3427 0 0 0 0 0 0 25.84 26.19 26.48

405 -1.35 -170.3 2091 3363 3251 3427 35.2 -9.2 52 413 0.00 2.08 0.00 0.000 1030 0.000 0.023 2100 1978 3338 3250 3427 0 0 0 0 0 0 28.83 26.39 28.83

724 -1.35 -170.3 2099 1978 3255 3427 63.9 -8.7 76 729 0.00 2.12 0.00 0.000 516 0.000 0.040 2109 575 3340 3254 3427 0 0 0 0 0 0 28.83 26.46 28.83

840 -1.35 -170.3 2109 575 3256 3427 73.8 -9.0 81 847 0.00 2.03 0.00 0.000 1030 0.000 0.015 2101 1988 3341 3256 3426 0 0 0 0 0 0 28.83 26.57 28.83

1156 -1.35 -170.3 2101 1990 3258 3427 102.8 -9.0 97 1162 0.00 2.17 0.00 0.000 516 0.000 0.039 2103 574 3343 3259 3427 0 0 0 0 0 0 28.83 26.55 28.83

1238 -1.35 -170.3 2104 574 3258 3427 108.7 -9.1 100 1247 0.00 2.00 0.00 0.000 1030 0.000 0.015 2096 1974 3342 3258 3427 0 0 0 0 0 0 28.83 26.64 28.83

1545 -1.35 -170.3 2095 1974 3258 3427 137.9 -9.3 116 1552 0.00 2.05 0.00 0.000 260 0.000 0.031 2085 3360 3342 3258 3426 0 0 0 0 0 0 28.83 26.60 28.83

1580 -1.35 -170.3 2085 3360 3258 3426 140.2 -9.0 117 1585 0.00 2.08 0.00 0.000 1030 0.000 0.024 2088 1964 3342 3258 3427 0 0 0 0 0 0 28.83 26.63 28.83

1894 -1.35 -170.3 2088 1963 3258 3425 169.3 -9.0 133 1900 0.00 2.10 0.00 0.000 516 0.000 0.041 2095 577 3341 3258 3424 0 0 0 0 0 0 28.83 26.60 28.83

1929 -1.35 -170.3 2095 577 3258 3424 171.5 -8.9 134 1935 0.00 2.00 0.00 0.000 1030 0.000 0.015 2087 1973 3341 3258 3424 0 0 0 0 0 0 28.83 26.69 28.83

2244 -1.35 -170.3 2087 1974 3257 3421 200.5 -9.1 150 2245 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1974 3339 3258 3421 0 0 0 0 0 0 28.83 28.83 28.83

2545 -1.35 -170.3 2087 1974 3258 3418 227.4 -9.1 165 2546 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1976 3338 3258 3418 0 0 0 0 0 0 28.83 28.83 28.83

2846 -1.35 -170.3 2086 1977 3255 3418 254.1 -9.4 180 2847 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1976 3335 3254 3416 0 0 0 0 0 0 28.83 28.83 28.83

3145 -1.35 -170.3 2086 1977 3253 3413 281.4 -9.1 195 3151 0.00 2.15 0.00 0.000 516 0.000 0.041 2095 578 3333 3254 3413 0 0 0 0 0 0 28.83 26.63 28.83

3180 -1.35 -170.3 2094 578 3254 3412 283.7 -9.0 196 3186 0.00 2.00 0.00 0.000 1030 0.000 0.015 2086 1974 3332 3253 3412 0 0 0 0 0 0 28.83 26.72 28.83

3494 -1.35 -170.3 2086 1974 3253 3409 312.7 -9.3 212 3500 0.00 2.05 0.00 0.000 260 0.000 0.033 2075 3354 3331 3253 3409 0 0 0 0 0 0 28.83 26.65 28.83

3534 -1.35 -170.3 2075 3354 3252 3409 314.9 -9.2 213 3543 0.12 2.08 0.00 0.000 3078 0.151 0.028 2109 1972 3330 3252 3409 0 0 0 0 0 0 26.49 26.66 28.83

3841 -1.35 -170.3 2109 1971 3250 3408 343.7 -9.0 229 3847 0.00 2.15 0.00 0.000 516 0.000 0.046 2118 570 3328 3250 3407 0 0 0 0 0 0 28.83 26.63 28.83

3881 -1.35 -170.3 2119 570 3250 3407 346.0 -9.1 230 3890 0.00 2.03 0.00 0.000 1030 0.000 0.017 2110 1969 3328 3250 3407 0 0 0 0 0 0 28.83 26.71 28.83

4188 -1.35 -170.3 2110 1970 3248 3406 375.4 -9.0 246 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1970 3327 3248 3406 0 0 0 0 0 0 28.83 28.83 28.83

4466 end dive: TARGET_DEPTH_EXCEEDED

state 4466 begin apogee

4471 -0.25 0.0 2108 2305 3247 3403 400.3 -8.9 260 4636 0.70 0.00 152.32 1.027 10246 0.111 0.000 2342 2305 2639 2590 2689 0 0 0 0 1 0 26.50 28.83 24.24

4639 end apogee: CONTROL_FINISHED_OK

state 4639 begin climb

4640 1.35 170.3 2342 2305 2589 2689 386.0 0.0 267 4812 1.00 2.30 161.90 0.860 10500 0.057 0.034 2699 3686 1937 1902 1972 0 0 0 0 0 0 25.15 24.94 24.29

4869 1.38 180.0 2699 3686 1895 1951 365.1 8.9 277 4880 0.00 2.17 2.53 0.286 9222 0.000 0.024 2709 2302 1903 1874 1932 0 0 0 0 0 0 28.83 25.45 24.60

5188 1.39 186.3 2709 2302 1874 1936 335.9 9.0 293 5205 0.00 2.17 10.07 0.802 8452 0.000 0.032 2709 3690 1875 1847 1904 0 0 0 0 0 0 28.83 25.97 25.21

5296 1.40 189.8 2709 3690 1845 1901 326.1 9.1 298 5303 0.00 2.15 0.00 0.000 1030 0.000 0.024 2718 2291 1873 1845 1901 0 0 0 0 0 0 28.83 26.13 28.83

5621 1.40 189.8 2718 2291 1845 1899 296.6 9.3 314 5627 0.00 2.15 0.00 0.000 260 0.000 0.031 2718 3691 1872 1846 1899 0 0 0 0 0 0 28.83 26.34 28.83

5656 1.40 189.8 2718 3691 1845 1899 294.3 9.4 315 5663 0.10 2.12 0.00 0.000 5126 0.203 0.024 2708 2290 1872 1845 1899 0 0 0 0 0 0 26.16 26.37 28.83

5972 1.43 200.3 2708 2290 1845 1897 265.6 8.9 331 5991 0.00 0.00 15.18 0.779 8198 0.000 0.000 2708 2290 1817 1787 1847 0 0 0 0 0 0 28.83 28.83 25.51

6292 1.47 216.0 2707 2290 1783 1838 236.7 8.7 347 6315 0.00 2.17 15.30 0.763 8452 0.000 0.031 2707 3681 1752 1721 1783 0 0 0 0 0 0 28.83 26.16 25.47

6435 1.50 229.6 1728 3680 1680 1769 225.0 8.8 353 6454 0.00 2.10 13.18 0.753 9222 0.000 0.024 2717 2298 1702 1672 1732 0 0 0 0 0 0 28.83 26.29 25.39

6769 1.52 238.8 2717 2298 1666 1722 193.9 8.9 370 6786 0.00 0.00 9.45 0.729 8198 0.000 0.000 2717 2298 1658 1621 1696 0 0 0 0 0 0 28.83 28.83 25.50

7088 1.55 248.5 2716 2298 1616 1695 165.1 8.9 386 7099 0.00 0.00 9.10 0.705 8198 0.000 0.000 2717 2298 1626 1581 1672 0 0 0 0 0 0 28.83 28.83 25.56

7389 1.56 254.4 2717 2298 1577 1665 137.1 9.0 401 7402 0.10 2.20 5.05 0.654 10756 0.102 0.043 2771 896 1602 1553 1651 0 0 0 0 0 0 26.46 26.32 25.53

7430 1.58 261.9 2770 895 1552 1650 134.7 9.0 402 7450 0.12 2.08 10.77 0.674 13318 0.189 0.018 2743 2301 1566 1515 1617 0 0 0 0 0 0 26.15 26.41 25.58

7765 1.60 267.3 2743 2301 1514 1612 103.2 9.1 419 7777 0.00 2.17 3.97 0.546 8452 0.000 0.037 2743 3684 1549 1498 1600 0 0 0 0 0 0 28.83 26.35 25.41

7833 1.63 280.4 2742 3684 1498 1600 97.1 8.8 422 7857 0.00 2.12 17.17 0.617 9222 0.000 0.026 2752 2296 1492 1440 1544 0 0 0 0 0 0 28.83 26.39 25.55

8152 1.64 284.2 2751 2296 1438 1534 68.2 9.1 438 8158 0.00 2.15 0.00 0.000 260 0.000 0.034 2752 3688 1486 1438 1534 0 0 0 0 0 0 28.83 26.36 28.83

8212 1.66 294.2 1792 3687 1413 1528 64.2 8.9 440 8236 0.00 2.12 14.32 0.587 9222 0.000 0.026 2761 2301 1432 1385 1479 0 0 0 0 0 0 28.83 26.40 25.60

8545 1.69 304.2 2761 2301 1385 1471 33.4 8.9 466 8560 0.00 2.28 9.38 0.564 8708 0.000 0.044 2772 892 1395 1355 1436 0 0 0 0 0 0 28.83 26.26 25.67

8650 1.73 321.9 1728 891 1330 1425 24.1 8.6 476 8674 0.00 2.08 18.52 0.540 9222 0.000 0.017 2772 2298 1324 1293 1356 0 0 0 0 0 0 28.83 26.39 25.56

8878 end climb: SURFACE_DEPTH_REACHED

state 8878 begin surface coast

8913 end surface coast: CONTROL_FINISHED_OK

state 8913 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	160	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	400	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	51	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	64	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	144	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	160	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	190	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	-100695.84	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	210313,182223,1951.373,12005.825,120,0.7,120,-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	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210313,182913,1951.391,12005.766,25,1.0,26,-2.6	MHEAD_RNG_PITCHd_Wd	336.0,210637,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3811

FINISH	0.0,1.024763	_10V_AH	10.1,15.548
SM_CCo	9140,1.45,0.102,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.57,0.52,1.45,0.073,0.034,0.102,81,1957,400,-10.57,1.05,549.47,0,0,0,0,0,0,26.34,26.37,25.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1941.24,12007.14,210313,161625	MEM	323828
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20051,523
HUMID	48.66	CAP_FILE_SIZE	383080,1951
INTERNAL_PRESSURE	9.14597	CFSIZE	260034560,232611840
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
XPDR_PINGS	0	CURRENT	0.103, 28.4,1
SC_FREEKB	3961600	GPS	210313,210343,1952.652,12005.509,61,0.8,62,-2.6
_24V_AH	24.2,27.538

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	211	89.55	nil	0	0	0.00
Roll_motor	68	45	76.45	nil	0	0	0.00
VBD_pump_during_apogee	468	1026	11632.79	nil	0	0	0.00
VBD_pump_during_surface	190	686	3165.75	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	8921	5	1200.12
Iridium_during_xfer	229	132	734.07	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	29	8.31
TT8	1959	14	286.15
LPSleep	4934	2	109.14
TT8_Active	788	14	115.15
TT8_Sampling	1533	39	606.72
TT8_CF8	319	46	150.51
TT8_Kalman	0	0	0.00
Analog_circuits	1842	15	288.43
GPS_charging	0	0	0.00
Compass	1307	7	98.91
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	82	1953	335	475	0.0	0.0	0	43	0.00	0.00	-23.83	0.000	16386	0.000	0.000	82	1952	1021	997	1045	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	82	1952	1002	1044	3.1	-9.1	3	161	7.80	2.22	-96.70	0.000	18692	0.211	0.044	2092	3363	3338	3250	3427	0	0	0	0	0	0	25.84	26.19	26.48
405	-1.35	-170.3	2091	3363	3251	3427	35.2	-9.2	52	413	0.00	2.08	0.00	0.000	1030	0.000	0.023	2100	1978	3338	3250	3427	0	0	0	0	0	0	28.83	26.39	28.83
724	-1.35	-170.3	2099	1978	3255	3427	63.9	-8.7	76	729	0.00	2.12	0.00	0.000	516	0.000	0.040	2109	575	3340	3254	3427	0	0	0	0	0	0	28.83	26.46	28.83
840	-1.35	-170.3	2109	575	3256	3427	73.8	-9.0	81	847	0.00	2.03	0.00	0.000	1030	0.000	0.015	2101	1988	3341	3256	3426	0	0	0	0	0	0	28.83	26.57	28.83
1156	-1.35	-170.3	2101	1990	3258	3427	102.8	-9.0	97	1162	0.00	2.17	0.00	0.000	516	0.000	0.039	2103	574	3343	3259	3427	0	0	0	0	0	0	28.83	26.55	28.83
1238	-1.35	-170.3	2104	574	3258	3427	108.7	-9.1	100	1247	0.00	2.00	0.00	0.000	1030	0.000	0.015	2096	1974	3342	3258	3427	0	0	0	0	0	0	28.83	26.64	28.83
1545	-1.35	-170.3	2095	1974	3258	3427	137.9	-9.3	116	1552	0.00	2.05	0.00	0.000	260	0.000	0.031	2085	3360	3342	3258	3426	0	0	0	0	0	0	28.83	26.60	28.83
1580	-1.35	-170.3	2085	3360	3258	3426	140.2	-9.0	117	1585	0.00	2.08	0.00	0.000	1030	0.000	0.024	2088	1964	3342	3258	3427	0	0	0	0	0	0	28.83	26.63	28.83
1894	-1.35	-170.3	2088	1963	3258	3425	169.3	-9.0	133	1900	0.00	2.10	0.00	0.000	516	0.000	0.041	2095	577	3341	3258	3424	0	0	0	0	0	0	28.83	26.60	28.83
1929	-1.35	-170.3	2095	577	3258	3424	171.5	-8.9	134	1935	0.00	2.00	0.00	0.000	1030	0.000	0.015	2087	1973	3341	3258	3424	0	0	0	0	0	0	28.83	26.69	28.83
2244	-1.35	-170.3	2087	1974	3257	3421	200.5	-9.1	150	2245	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1974	3339	3258	3421	0	0	0	0	0	0	28.83	28.83	28.83
2545	-1.35	-170.3	2087	1974	3258	3418	227.4	-9.1	165	2546	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1976	3338	3258	3418	0	0	0	0	0	0	28.83	28.83	28.83
2846	-1.35	-170.3	2086	1977	3255	3418	254.1	-9.4	180	2847	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1976	3335	3254	3416	0	0	0	0	0	0	28.83	28.83	28.83
3145	-1.35	-170.3	2086	1977	3253	3413	281.4	-9.1	195	3151	0.00	2.15	0.00	0.000	516	0.000	0.041	2095	578	3333	3254	3413	0	0	0	0	0	0	28.83	26.63	28.83
3180	-1.35	-170.3	2094	578	3254	3412	283.7	-9.0	196	3186	0.00	2.00	0.00	0.000	1030	0.000	0.015	2086	1974	3332	3253	3412	0	0	0	0	0	0	28.83	26.72	28.83
3494	-1.35	-170.3	2086	1974	3253	3409	312.7	-9.3	212	3500	0.00	2.05	0.00	0.000	260	0.000	0.033	2075	3354	3331	3253	3409	0	0	0	0	0	0	28.83	26.65	28.83
3534	-1.35	-170.3	2075	3354	3252	3409	314.9	-9.2	213	3543	0.12	2.08	0.00	0.000	3078	0.151	0.028	2109	1972	3330	3252	3409	0	0	0	0	0	0	26.49	26.66	28.83
3841	-1.35	-170.3	2109	1971	3250	3408	343.7	-9.0	229	3847	0.00	2.15	0.00	0.000	516	0.000	0.046	2118	570	3328	3250	3407	0	0	0	0	0	0	28.83	26.63	28.83
3881	-1.35	-170.3	2119	570	3250	3407	346.0	-9.1	230	3890	0.00	2.03	0.00	0.000	1030	0.000	0.017	2110	1969	3328	3250	3407	0	0	0	0	0	0	28.83	26.71	28.83
4188	-1.35	-170.3	2110	1970	3248	3406	375.4	-9.0	246	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1970	3327	3248	3406	0	0	0	0	0	0	28.83	28.83	28.83
4466	end dive: TARGET_DEPTH_EXCEEDED
state	4466	begin apogee
4471	-0.25	0.0	2108	2305	3247	3403	400.3	-8.9	260	4636	0.70	0.00	152.32	1.027	10246	0.111	0.000	2342	2305	2639	2590	2689	0	0	0	0	1	0	26.50	28.83	24.24
4639	end apogee: CONTROL_FINISHED_OK
state	4639	begin climb
4640	1.35	170.3	2342	2305	2589	2689	386.0	0.0	267	4812	1.00	2.30	161.90	0.860	10500	0.057	0.034	2699	3686	1937	1902	1972	0	0	0	0	0	0	25.15	24.94	24.29
4869	1.38	180.0	2699	3686	1895	1951	365.1	8.9	277	4880	0.00	2.17	2.53	0.286	9222	0.000	0.024	2709	2302	1903	1874	1932	0	0	0	0	0	0	28.83	25.45	24.60
5188	1.39	186.3	2709	2302	1874	1936	335.9	9.0	293	5205	0.00	2.17	10.07	0.802	8452	0.000	0.032	2709	3690	1875	1847	1904	0	0	0	0	0	0	28.83	25.97	25.21
5296	1.40	189.8	2709	3690	1845	1901	326.1	9.1	298	5303	0.00	2.15	0.00	0.000	1030	0.000	0.024	2718	2291	1873	1845	1901	0	0	0	0	0	0	28.83	26.13	28.83
5621	1.40	189.8	2718	2291	1845	1899	296.6	9.3	314	5627	0.00	2.15	0.00	0.000	260	0.000	0.031	2718	3691	1872	1846	1899	0	0	0	0	0	0	28.83	26.34	28.83
5656	1.40	189.8	2718	3691	1845	1899	294.3	9.4	315	5663	0.10	2.12	0.00	0.000	5126	0.203	0.024	2708	2290	1872	1845	1899	0	0	0	0	0	0	26.16	26.37	28.83
5972	1.43	200.3	2708	2290	1845	1897	265.6	8.9	331	5991	0.00	0.00	15.18	0.779	8198	0.000	0.000	2708	2290	1817	1787	1847	0	0	0	0	0	0	28.83	28.83	25.51
6292	1.47	216.0	2707	2290	1783	1838	236.7	8.7	347	6315	0.00	2.17	15.30	0.763	8452	0.000	0.031	2707	3681	1752	1721	1783	0	0	0	0	0	0	28.83	26.16	25.47
6435	1.50	229.6	1728	3680	1680	1769	225.0	8.8	353	6454	0.00	2.10	13.18	0.753	9222	0.000	0.024	2717	2298	1702	1672	1732	0	0	0	0	0	0	28.83	26.29	25.39
6769	1.52	238.8	2717	2298	1666	1722	193.9	8.9	370	6786	0.00	0.00	9.45	0.729	8198	0.000	0.000	2717	2298	1658	1621	1696	0	0	0	0	0	0	28.83	28.83	25.50
7088	1.55	248.5	2716	2298	1616	1695	165.1	8.9	386	7099	0.00	0.00	9.10	0.705	8198	0.000	0.000	2717	2298	1626	1581	1672	0	0	0	0	0	0	28.83	28.83	25.56
7389	1.56	254.4	2717	2298	1577	1665	137.1	9.0	401	7402	0.10	2.20	5.05	0.654	10756	0.102	0.043	2771	896	1602	1553	1651	0	0	0	0	0	0	26.46	26.32	25.53
7430	1.58	261.9	2770	895	1552	1650	134.7	9.0	402	7450	0.12	2.08	10.77	0.674	13318	0.189	0.018	2743	2301	1566	1515	1617	0	0	0	0	0	0	26.15	26.41	25.58
7765	1.60	267.3	2743	2301	1514	1612	103.2	9.1	419	7777	0.00	2.17	3.97	0.546	8452	0.000	0.037	2743	3684	1549	1498	1600	0	0	0	0	0	0	28.83	26.35	25.41
7833	1.63	280.4	2742	3684	1498	1600	97.1	8.8	422	7857	0.00	2.12	17.17	0.617	9222	0.000	0.026	2752	2296	1492	1440	1544	0	0	0	0	0	0	28.83	26.39	25.55
8152	1.64	284.2	2751	2296	1438	1534	68.2	9.1	438	8158	0.00	2.15	0.00	0.000	260	0.000	0.034	2752	3688	1486	1438	1534	0	0	0	0	0	0	28.83	26.36	28.83
8212	1.66	294.2	1792	3687	1413	1528	64.2	8.9	440	8236	0.00	2.12	14.32	0.587	9222	0.000	0.026	2761	2301	1432	1385	1479	0	0	0	0	0	0	28.83	26.40	25.60
8545	1.69	304.2	2761	2301	1385	1471	33.4	8.9	466	8560	0.00	2.28	9.38	0.564	8708	0.000	0.044	2772	892	1395	1355	1436	0	0	0	0	0	0	28.83	26.26	25.67
8650	1.73	321.9	1728	891	1330	1425	24.1	8.6	476	8674	0.00	2.08	18.52	0.540	9222	0.000	0.017	2772	2298	1324	1293	1356	0	0	0	0	0	0	28.83	26.39	25.56
8878	end climb: SURFACE_DEPTH_REACHED
state	8878	begin surface coast
8913	end surface coast: CONTROL_FINISHED_OK
state	8913	begin surface