Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 162 * 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 162 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 52 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 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 -100698.35 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 -100698.35

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 52 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 162 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 210313,234928,1953.910,12005.444,102,0.8,102,-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 -61.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210313,235631,1954.021,12005.427,15,1.1,16,-2.6 MHEAD_RNG_PITCHd_Wd 345.9,205745,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3780

Post-dive calculations and measurements:

FINISH 0.0,1.024365 _10V_AH 10.1,15.674

SM_CCo 9147,-0.12,0.000,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.38,0.52,-0.12,0.070,0.034,0.000,89,1957,401,-10.53,1.13,549.47,0,0,0,0,0,0,26.48,26.52,25.27 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1943.54,12007.14,210313,212108 MEM 323848

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16778,521

HUMID 47.12 CAP_FILE_SIZE 382458,1988

INTERNAL_PRESSURE 9.17526 CFSIZE 260034560,232390656

TCM_TEMP 20.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0

XPDR_PINGS 3 CURRENT 0.082, 88.5,1

SC_FREEKB 3960832 GPS 220313,023042,1954.822,12005.533,38,1.1,38,-2.6

_24V_AH 24.0,27.858

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 216 89.63 nil 0 0 0.00

Roll_motor 60 51 73.96 nil 0 0 0.00

VBD_pump_during_apogee 399 1094 10484.96 nil 0 0 0.00

VBD_pump_during_surface 227 685 3740.03 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 8885 5 1185.40

Iridium_during_xfer 249 132 791.93 nil 0 0 0.00

Transponder_ping 0 420 7.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 5.11

TT8 1974 14 288.32

LPSleep 4934 2 109.14

TT8_Active 773 14 112.93

TT8_Sampling 1548 39 612.75

TT8_CF8 321 46 151.40

TT8_Kalman 0 0 0.00

Analog_circuits 1856 15 290.63

GPS_charging 0 0 0.00

Compass 1317 7 99.69

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 81 1947 357 490 0.0 0.0 0 44 0.00 0.00 -23.80 0.000 16386 0.000 0.000 81 1948 1043 1030 1057 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 81 1946 1030 1061 3.4 -9.1 3 163 7.95 2.25 -97.65 0.000 18692 0.216 0.051 2093 3369 3336 3241 3432 0 0 0 0 0 0 25.82 26.15 26.45

406 -1.35 -170.3 2093 3370 3243 3432 35.7 -9.1 51 414 0.00 2.10 0.00 0.000 1030 0.000 0.024 2101 1971 3337 3243 3432 0 0 0 0 0 0 28.83 26.36 28.83

724 -1.35 -170.3 2101 1970 3248 3432 64.7 -9.1 75 730 0.00 2.12 0.00 0.000 516 0.000 0.039 2111 572 3340 3248 3432 0 0 0 0 0 0 28.83 26.46 28.83

794 -1.35 -170.3 2111 572 3249 3432 70.9 -9.2 78 800 0.00 2.05 0.00 0.000 1030 0.000 0.015 2103 1998 3340 3249 3431 0 0 0 0 0 0 28.83 26.54 28.83

1114 -1.35 -170.3 2102 1999 3250 3432 100.6 -9.6 94 1120 0.00 2.20 0.00 0.000 516 0.000 0.038 2110 567 3341 3250 3432 0 0 0 0 0 0 28.83 26.53 28.83

1192 -1.35 -170.3 2110 567 3250 3431 106.7 -9.0 97 1198 0.00 2.03 0.00 0.000 1030 0.000 0.015 2102 1982 3341 3250 3432 0 0 0 0 0 0 28.83 26.62 28.83

1506 -1.35 -170.3 2102 1983 3250 3432 136.1 -9.0 113 1513 0.00 2.03 0.00 0.000 260 0.000 0.031 2092 3354 3340 3250 3430 0 0 0 0 0 0 28.83 26.60 28.83

1536 -1.35 -170.3 2092 3355 3250 3430 138.3 -9.0 114 1541 0.00 2.05 0.00 0.000 1030 0.000 0.024 2092 1974 3340 3250 3431 0 0 0 0 0 0 28.83 26.61 28.83

1855 -1.35 -170.3 2092 1973 3250 3429 167.9 -9.0 130 1856 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 1973 3339 3250 3428 0 0 0 0 0 0 28.83 28.83 28.83

2156 -1.35 -170.3 2092 1972 3250 3425 194.8 -8.4 145 2162 0.00 2.08 0.00 0.000 260 0.000 0.031 2084 3349 3337 3249 3425 0 0 0 0 0 0 28.83 26.63 28.83

2238 -1.35 -170.3 2083 3349 3250 3423 200.8 -8.9 148 2246 0.00 2.05 0.00 0.000 1030 0.000 0.025 2085 1974 3336 3250 3423 0 0 0 0 0 0 28.83 26.65 28.83

2545 -1.35 -170.3 2086 1974 3250 3421 229.4 -9.1 164 2551 0.00 2.12 0.00 0.000 516 0.000 0.042 2094 573 3335 3250 3421 0 0 0 0 0 0 28.83 26.62 28.83

2622 -1.35 -170.3 2094 574 3249 3421 235.4 -9.0 167 2628 0.00 2.03 0.00 0.000 1030 0.000 0.015 2085 1981 3335 3250 3421 0 0 0 0 0 0 28.83 26.70 28.83

2937 -1.35 -170.3 2084 1981 3249 3416 264.9 -9.7 183 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1981 3333 3250 3417 0 0 0 0 0 0 28.83 28.83 28.83

3238 -1.35 -170.3 2085 1985 3249 3414 291.7 -8.9 198 3239 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1985 3331 3249 3414 0 0 0 0 0 0 28.83 28.83 28.83

3538 -1.35 -170.3 2085 1985 3249 3410 318.7 -9.0 213 3539 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1985 3329 3249 3410 0 0 0 0 0 0 28.83 28.83 28.83

3840 -1.35 -170.3 2085 1985 3248 3407 345.2 -8.8 228 3841 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1985 3328 3248 3408 0 0 0 0 0 0 28.83 28.83 28.83

4138 -1.35 -170.3 2085 1985 3245 3405 371.5 -8.3 243 4145 0.00 2.17 0.00 0.000 516 0.000 0.043 2094 578 3325 3245 3405 0 0 0 0 0 0 28.83 26.63 28.83

4179 -1.35 -170.3 2094 578 3245 3405 374.0 -8.5 244 4186 0.00 2.03 0.00 0.000 1030 0.000 0.016 2086 1980 3325 3245 3405 0 0 0 0 0 0 28.83 26.72 28.83

4444 end dive: TARGET_DEPTH_EXCEEDED

state 4444 begin apogee

4449 -0.25 0.0 2083 2304 3242 3403 400.1 -9.2 258 4608 0.80 0.00 141.20 1.048 10246 0.119 0.000 2344 2303 2639 2589 2689 0 0 0 0 1 0 26.47 28.83 24.25

4609 end apogee: CONTROL_FINISHED_OK

state 4610 begin climb

4613 1.35 170.3 2344 2303 2589 2689 385.5 0.0 265 4775 1.00 2.30 147.38 1.095 10500 0.056 0.033 2706 3677 1943 1909 1978 0 0 0 0 1 0 25.24 24.77 23.98

4957 1.38 181.1 2706 3678 1909 1978 354.5 8.9 280 4976 0.00 2.12 13.48 0.849 9222 0.000 0.023 2716 2306 1897 1870 1924 0 0 0 0 0 0 28.83 25.81 24.89

5296 1.42 198.6 2716 2306 1867 1912 323.1 8.6 297 5316 0.00 0.00 16.95 0.820 8198 0.000 0.000 2716 2306 1826 1801 1851 0 0 0 0 0 0 28.83 28.83 25.18

5615 1.43 202.7 2715 2306 1799 1841 294.1 9.1 313 5621 0.00 2.20 0.00 0.000 516 0.000 0.042 2727 896 1820 1799 1841 0 0 0 0 0 0 28.83 26.24 28.83

5671 1.44 203.9 2726 895 1799 1842 289.7 9.2 315 5685 0.00 2.08 3.80 0.617 9222 0.000 0.016 2727 2303 1806 1782 1831 0 0 0 0 0 0 28.83 26.36 25.23

5983 1.45 209.4 2727 2303 1783 1831 261.2 9.1 331 5992 0.00 0.00 7.53 0.772 8198 0.000 0.000 2727 2303 1786 1761 1812 0 0 0 0 0 0 28.83 28.83 25.52

6283 1.45 209.4 2727 2304 1757 1804 233.7 9.7 346 6289 0.00 2.10 0.00 0.000 260 0.000 0.034 2727 3690 1781 1758 1804 0 0 0 0 0 0 28.83 26.41 28.83

6385 1.47 218.9 2726 3690 1757 1804 225.8 8.9 350 6404 0.00 2.10 10.88 0.743 9222 0.000 0.024 2737 2298 1741 1715 1768 0 0 0 0 0 0 28.83 26.46 25.57

6719 1.50 230.3 2736 2298 1714 1765 194.8 8.8 367 6738 0.00 0.00 11.57 0.718 8198 0.000 0.000 2737 2298 1697 1665 1729 0 0 0 0 0 0 28.83 28.83 25.57

7039 1.51 232.7 2737 2298 1664 1723 166.1 9.2 383 7044 0.00 2.17 0.00 0.000 516 0.000 0.043 2747 897 1693 1664 1723 0 0 0 0 0 0 28.83 26.39 28.83

7073 1.53 240.4 2747 897 1664 1723 163.8 9.0 384 7092 0.00 2.08 10.32 0.688 9222 0.000 0.017 2747 2304 1654 1612 1696 0 0 0 0 0 0 28.83 26.48 25.60

7413 1.54 245.9 2747 2304 1606 1695 132.4 9.1 401 7425 0.00 2.15 3.83 0.546 8452 0.000 0.034 2747 3682 1636 1589 1683 0 0 0 0 0 0 28.83 26.39 25.44

7536 1.57 258.2 2747 3682 1589 1683 122.7 8.8 406 7559 0.00 2.10 15.60 0.642 9222 0.000 0.025 2757 2296 1581 1529 1633 0 0 0 0 0 0 28.83 26.44 25.59

7869 1.57 258.2 2757 2296 1528 1627 91.2 9.5 423 7870 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2296 1577 1528 1626 0 0 0 0 0 0 28.83 28.83 28.83

8169 1.58 260.5 2757 2296 1528 1624 64.1 9.2 438 8175 0.00 2.15 0.00 0.000 260 0.000 0.034 2757 3698 1577 1528 1626 0 0 0 0 0 0 28.83 26.48 28.83

8277 1.59 267.0 2757 3698 1528 1626 54.4 9.0 443 8294 0.00 2.12 8.48 0.584 9222 0.000 0.025 2767 2298 1546 1494 1598 0 0 0 0 0 0 28.83 26.52 25.76

8603 1.60 270.2 2766 2298 1493 1594 24.8 9.1 472 8611 0.00 2.15 0.00 0.000 516 0.000 0.042 2778 897 1543 1493 1594 0 0 0 0 0 0 28.83 26.46 28.83

8669 1.61 274.7 1736 897 1461 1587 18.9 9.1 483 8686 0.12 2.05 8.07 0.549 13318 0.184 0.017 2749 2305 1514 1462 1567 0 0 0 0 0 0 26.29 26.56 25.79

8848 end climb: SURFACE_DEPTH_REACHED

state 8848 begin surface coast

8882 end surface coast: CONTROL_FINISHED_OK

state 8882 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	162	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	52	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	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	-100698.35	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	210313,234928,1953.910,12005.444,102,0.8,102,-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	-61.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210313,235631,1954.021,12005.427,15,1.1,16,-2.6	MHEAD_RNG_PITCHd_Wd	345.9,205745,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3780

FINISH	0.0,1.024365	_10V_AH	10.1,15.674
SM_CCo	9147,-0.12,0.000,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.38,0.52,-0.12,0.070,0.034,0.000,89,1957,401,-10.53,1.13,549.47,0,0,0,0,0,0,26.48,26.52,25.27	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1943.54,12007.14,210313,212108	MEM	323848
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16778,521
HUMID	47.12	CAP_FILE_SIZE	382458,1988
INTERNAL_PRESSURE	9.17526	CFSIZE	260034560,232390656
TCM_TEMP	20.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
XPDR_PINGS	3	CURRENT	0.082, 88.5,1
SC_FREEKB	3960832	GPS	220313,023042,1954.822,12005.533,38,1.1,38,-2.6
_24V_AH	24.0,27.858

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	216	89.63	nil	0	0	0.00
Roll_motor	60	51	73.96	nil	0	0	0.00
VBD_pump_during_apogee	399	1094	10484.96	nil	0	0	0.00
VBD_pump_during_surface	227	685	3740.03	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	8885	5	1185.40
Iridium_during_xfer	249	132	791.93	nil	0	0	0.00
Transponder_ping	0	420	7.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	5.11
TT8	1974	14	288.32
LPSleep	4934	2	109.14
TT8_Active	773	14	112.93
TT8_Sampling	1548	39	612.75
TT8_CF8	321	46	151.40
TT8_Kalman	0	0	0.00
Analog_circuits	1856	15	290.63
GPS_charging	0	0	0.00
Compass	1317	7	99.69
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	81	1947	357	490	0.0	0.0	0	44	0.00	0.00	-23.80	0.000	16386	0.000	0.000	81	1948	1043	1030	1057	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	81	1946	1030	1061	3.4	-9.1	3	163	7.95	2.25	-97.65	0.000	18692	0.216	0.051	2093	3369	3336	3241	3432	0	0	0	0	0	0	25.82	26.15	26.45
406	-1.35	-170.3	2093	3370	3243	3432	35.7	-9.1	51	414	0.00	2.10	0.00	0.000	1030	0.000	0.024	2101	1971	3337	3243	3432	0	0	0	0	0	0	28.83	26.36	28.83
724	-1.35	-170.3	2101	1970	3248	3432	64.7	-9.1	75	730	0.00	2.12	0.00	0.000	516	0.000	0.039	2111	572	3340	3248	3432	0	0	0	0	0	0	28.83	26.46	28.83
794	-1.35	-170.3	2111	572	3249	3432	70.9	-9.2	78	800	0.00	2.05	0.00	0.000	1030	0.000	0.015	2103	1998	3340	3249	3431	0	0	0	0	0	0	28.83	26.54	28.83
1114	-1.35	-170.3	2102	1999	3250	3432	100.6	-9.6	94	1120	0.00	2.20	0.00	0.000	516	0.000	0.038	2110	567	3341	3250	3432	0	0	0	0	0	0	28.83	26.53	28.83
1192	-1.35	-170.3	2110	567	3250	3431	106.7	-9.0	97	1198	0.00	2.03	0.00	0.000	1030	0.000	0.015	2102	1982	3341	3250	3432	0	0	0	0	0	0	28.83	26.62	28.83
1506	-1.35	-170.3	2102	1983	3250	3432	136.1	-9.0	113	1513	0.00	2.03	0.00	0.000	260	0.000	0.031	2092	3354	3340	3250	3430	0	0	0	0	0	0	28.83	26.60	28.83
1536	-1.35	-170.3	2092	3355	3250	3430	138.3	-9.0	114	1541	0.00	2.05	0.00	0.000	1030	0.000	0.024	2092	1974	3340	3250	3431	0	0	0	0	0	0	28.83	26.61	28.83
1855	-1.35	-170.3	2092	1973	3250	3429	167.9	-9.0	130	1856	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	1973	3339	3250	3428	0	0	0	0	0	0	28.83	28.83	28.83
2156	-1.35	-170.3	2092	1972	3250	3425	194.8	-8.4	145	2162	0.00	2.08	0.00	0.000	260	0.000	0.031	2084	3349	3337	3249	3425	0	0	0	0	0	0	28.83	26.63	28.83
2238	-1.35	-170.3	2083	3349	3250	3423	200.8	-8.9	148	2246	0.00	2.05	0.00	0.000	1030	0.000	0.025	2085	1974	3336	3250	3423	0	0	0	0	0	0	28.83	26.65	28.83
2545	-1.35	-170.3	2086	1974	3250	3421	229.4	-9.1	164	2551	0.00	2.12	0.00	0.000	516	0.000	0.042	2094	573	3335	3250	3421	0	0	0	0	0	0	28.83	26.62	28.83
2622	-1.35	-170.3	2094	574	3249	3421	235.4	-9.0	167	2628	0.00	2.03	0.00	0.000	1030	0.000	0.015	2085	1981	3335	3250	3421	0	0	0	0	0	0	28.83	26.70	28.83
2937	-1.35	-170.3	2084	1981	3249	3416	264.9	-9.7	183	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1981	3333	3250	3417	0	0	0	0	0	0	28.83	28.83	28.83
3238	-1.35	-170.3	2085	1985	3249	3414	291.7	-8.9	198	3239	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1985	3331	3249	3414	0	0	0	0	0	0	28.83	28.83	28.83
3538	-1.35	-170.3	2085	1985	3249	3410	318.7	-9.0	213	3539	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1985	3329	3249	3410	0	0	0	0	0	0	28.83	28.83	28.83
3840	-1.35	-170.3	2085	1985	3248	3407	345.2	-8.8	228	3841	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1985	3328	3248	3408	0	0	0	0	0	0	28.83	28.83	28.83
4138	-1.35	-170.3	2085	1985	3245	3405	371.5	-8.3	243	4145	0.00	2.17	0.00	0.000	516	0.000	0.043	2094	578	3325	3245	3405	0	0	0	0	0	0	28.83	26.63	28.83
4179	-1.35	-170.3	2094	578	3245	3405	374.0	-8.5	244	4186	0.00	2.03	0.00	0.000	1030	0.000	0.016	2086	1980	3325	3245	3405	0	0	0	0	0	0	28.83	26.72	28.83
4444	end dive: TARGET_DEPTH_EXCEEDED
state	4444	begin apogee
4449	-0.25	0.0	2083	2304	3242	3403	400.1	-9.2	258	4608	0.80	0.00	141.20	1.048	10246	0.119	0.000	2344	2303	2639	2589	2689	0	0	0	0	1	0	26.47	28.83	24.25
4609	end apogee: CONTROL_FINISHED_OK
state	4610	begin climb
4613	1.35	170.3	2344	2303	2589	2689	385.5	0.0	265	4775	1.00	2.30	147.38	1.095	10500	0.056	0.033	2706	3677	1943	1909	1978	0	0	0	0	1	0	25.24	24.77	23.98
4957	1.38	181.1	2706	3678	1909	1978	354.5	8.9	280	4976	0.00	2.12	13.48	0.849	9222	0.000	0.023	2716	2306	1897	1870	1924	0	0	0	0	0	0	28.83	25.81	24.89
5296	1.42	198.6	2716	2306	1867	1912	323.1	8.6	297	5316	0.00	0.00	16.95	0.820	8198	0.000	0.000	2716	2306	1826	1801	1851	0	0	0	0	0	0	28.83	28.83	25.18
5615	1.43	202.7	2715	2306	1799	1841	294.1	9.1	313	5621	0.00	2.20	0.00	0.000	516	0.000	0.042	2727	896	1820	1799	1841	0	0	0	0	0	0	28.83	26.24	28.83
5671	1.44	203.9	2726	895	1799	1842	289.7	9.2	315	5685	0.00	2.08	3.80	0.617	9222	0.000	0.016	2727	2303	1806	1782	1831	0	0	0	0	0	0	28.83	26.36	25.23
5983	1.45	209.4	2727	2303	1783	1831	261.2	9.1	331	5992	0.00	0.00	7.53	0.772	8198	0.000	0.000	2727	2303	1786	1761	1812	0	0	0	0	0	0	28.83	28.83	25.52
6283	1.45	209.4	2727	2304	1757	1804	233.7	9.7	346	6289	0.00	2.10	0.00	0.000	260	0.000	0.034	2727	3690	1781	1758	1804	0	0	0	0	0	0	28.83	26.41	28.83
6385	1.47	218.9	2726	3690	1757	1804	225.8	8.9	350	6404	0.00	2.10	10.88	0.743	9222	0.000	0.024	2737	2298	1741	1715	1768	0	0	0	0	0	0	28.83	26.46	25.57
6719	1.50	230.3	2736	2298	1714	1765	194.8	8.8	367	6738	0.00	0.00	11.57	0.718	8198	0.000	0.000	2737	2298	1697	1665	1729	0	0	0	0	0	0	28.83	28.83	25.57
7039	1.51	232.7	2737	2298	1664	1723	166.1	9.2	383	7044	0.00	2.17	0.00	0.000	516	0.000	0.043	2747	897	1693	1664	1723	0	0	0	0	0	0	28.83	26.39	28.83
7073	1.53	240.4	2747	897	1664	1723	163.8	9.0	384	7092	0.00	2.08	10.32	0.688	9222	0.000	0.017	2747	2304	1654	1612	1696	0	0	0	0	0	0	28.83	26.48	25.60
7413	1.54	245.9	2747	2304	1606	1695	132.4	9.1	401	7425	0.00	2.15	3.83	0.546	8452	0.000	0.034	2747	3682	1636	1589	1683	0	0	0	0	0	0	28.83	26.39	25.44
7536	1.57	258.2	2747	3682	1589	1683	122.7	8.8	406	7559	0.00	2.10	15.60	0.642	9222	0.000	0.025	2757	2296	1581	1529	1633	0	0	0	0	0	0	28.83	26.44	25.59
7869	1.57	258.2	2757	2296	1528	1627	91.2	9.5	423	7870	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2296	1577	1528	1626	0	0	0	0	0	0	28.83	28.83	28.83
8169	1.58	260.5	2757	2296	1528	1624	64.1	9.2	438	8175	0.00	2.15	0.00	0.000	260	0.000	0.034	2757	3698	1577	1528	1626	0	0	0	0	0	0	28.83	26.48	28.83
8277	1.59	267.0	2757	3698	1528	1626	54.4	9.0	443	8294	0.00	2.12	8.48	0.584	9222	0.000	0.025	2767	2298	1546	1494	1598	0	0	0	0	0	0	28.83	26.52	25.76
8603	1.60	270.2	2766	2298	1493	1594	24.8	9.1	472	8611	0.00	2.15	0.00	0.000	516	0.000	0.042	2778	897	1543	1493	1594	0	0	0	0	0	0	28.83	26.46	28.83
8669	1.61	274.7	1736	897	1461	1587	18.9	9.1	483	8686	0.12	2.05	8.07	0.549	13318	0.184	0.017	2749	2305	1514	1462	1567	0	0	0	0	0	0	26.29	26.56	25.79
8848	end climb: SURFACE_DEPTH_REACHED
state	8848	begin surface coast
8882	end surface coast: CONTROL_FINISHED_OK
state	8882	begin surface