Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 164 * 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 164 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 37 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 66 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 -100700.86 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 -100700.86

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 37 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 66 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 164 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 220313,051434,1955.652,12005.258,141,1.2,141,-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 -64.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220313,052141,1955.754,12005.239,16,1.1,17,-2.6 MHEAD_RNG_PITCHd_Wd 354.4,202524,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3789

Post-dive calculations and measurements:

FINISH 0.0,1.024723 _10V_AH 10.2,15.802

SM_CCo 9132,1.95,0.107,0,0,399,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.55,0.50,1.95,0.075,0.043,0.107,85,1953,399,-10.56,0.93,549.47,0,0,0,0,0,0,26.44,26.48,25.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1948.12,12006.31,220313,020233 MEM 323924

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16797,523

HUMID 48.42 CAP_FILE_SIZE 399427,2122

INTERNAL_PRESSURE 9.12643 CFSIZE 260034560,232148992

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

XPDR_PINGS 0 CURRENT 0.059,276.7,1

SC_FREEKB 3960064 GPS 220313,075635,1956.620,12004.757,94,0.9,94,-2.6

_24V_AH 24.2,28.163

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 220 92.51 nil 0 0 0.00

Roll_motor 59 45 66.62 nil 0 0 0.00

VBD_pump_during_apogee 429 1016 10563.63 nil 0 0 0.00

VBD_pump_during_surface 212 690 3559.52 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 8892 5 1196.65

Iridium_during_xfer 250 132 803.09 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 5.34

TT8 2058 14 303.55

LPSleep 4774 2 106.65

TT8_Active 757 14 111.69

TT8_Sampling 1620 39 647.63

TT8_CF8 330 46 157.19

TT8_Kalman 0 0 0.00

Analog_circuits 1869 15 295.63

GPS_charging 0 0 0.00

Compass 1371 7 104.78

RAFOS 0 0 0.00

Transponder 1 5 0.08

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 87 2010 351 483 0.0 0.0 0 44 0.00 0.00 -23.92 0.000 16386 0.000 0.000 87 2010 1043 1026 1060 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 87 2010 1026 1062 3.2 -8.9 3 146 7.97 2.12 -85.28 0.000 18692 0.220 0.044 2090 3361 3337 3245 3429 0 0 0 0 0 0 25.79 26.16 26.44

391 -1.35 -170.3 2090 3362 3248 3430 34.1 -9.0 51 400 0.00 2.10 0.00 0.000 1030 0.000 0.022 2098 1953 3338 3248 3429 0 0 0 0 0 0 28.83 26.36 28.83

710 -1.35 -170.3 2098 1953 3252 3429 62.7 -9.0 76 716 0.00 2.12 0.00 0.000 260 0.000 0.029 2090 3363 3340 3252 3429 0 0 0 0 0 0 28.83 26.47 28.83

863 -1.35 -170.3 2089 3363 3252 3429 76.4 -8.9 83 869 0.00 2.05 0.00 0.000 1030 0.000 0.024 2092 1979 3341 3253 3429 0 0 0 0 0 0 28.83 26.52 28.83

1188 -1.35 -170.3 2090 1979 3254 3430 106.2 -9.0 99 1189 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 1978 3341 3254 3429 0 0 0 0 0 0 28.83 28.83 28.83

1489 -1.35 -170.3 2091 1979 3253 3429 133.2 -8.8 114 1490 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 1979 3341 3253 3429 0 0 0 0 0 0 28.83 28.83 28.83

1789 -1.35 -170.3 2091 1979 3253 3428 159.9 -9.1 129 1790 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 1978 3340 3253 3428 0 0 0 0 0 0 28.83 28.83 28.83

2091 -1.35 -170.3 2091 1979 3253 3425 187.3 -9.0 144 2097 0.00 2.08 0.00 0.000 260 0.000 0.030 2083 3359 3338 3253 3424 0 0 0 0 0 0 28.83 26.63 28.83

2201 -1.35 -170.3 2083 3359 3253 3423 197.5 -9.1 149 2207 0.00 2.05 0.00 0.000 1030 0.000 0.024 2088 1975 3337 3253 3422 0 0 0 0 0 0 28.83 26.66 28.83

2525 -1.35 -170.3 2088 1975 3253 3420 227.8 -9.0 165 2532 0.00 2.12 0.00 0.000 516 0.000 0.042 2096 578 3336 3253 3420 0 0 0 0 0 0 28.83 26.63 28.83

2572 -1.35 -170.3 2096 577 3253 3420 232.0 -9.0 167 2579 0.00 2.03 0.00 0.000 1030 0.000 0.016 2088 1989 3336 3253 3420 0 0 0 0 0 0 28.83 26.70 28.83

2898 -1.35 -170.3 2087 1990 3253 3416 261.6 -8.9 183 2904 0.00 2.17 0.00 0.000 516 0.000 0.041 2096 578 3334 3253 3416 0 0 0 0 0 0 28.83 26.63 28.83

2927 -1.35 -170.3 2095 578 3253 3416 263.9 -8.8 184 2934 0.00 2.00 0.00 0.000 1030 0.000 0.015 2088 1974 3334 3253 3416 0 0 0 0 0 0 28.83 26.71 28.83

3247 -1.35 -170.3 2087 1978 3252 3413 293.4 -9.4 200 3248 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1979 3332 3252 3413 0 0 0 0 0 0 28.83 28.83 28.83

3549 -1.35 -170.3 2087 1979 3250 3410 320.5 -9.0 215 3555 0.00 2.05 0.00 0.000 260 0.000 0.033 2077 3356 3329 3250 3409 0 0 0 0 0 0 28.83 26.65 28.83

3633 -1.35 -170.3 2077 3356 3249 3408 326.9 -9.1 218 3642 0.12 2.08 0.00 0.000 3078 0.153 0.028 2109 1972 3328 3249 3408 0 0 0 0 0 0 26.48 26.66 28.83

3938 -1.35 -170.3 2109 1972 3248 3407 355.6 -9.1 234 3945 0.00 2.15 0.00 0.000 516 0.000 0.046 2120 572 3327 3248 3406 0 0 0 0 0 0 28.83 26.63 28.83

4029 -1.35 -170.3 2119 572 3248 3406 363.4 -9.0 238 4035 0.00 2.03 0.00 0.000 1030 0.000 0.017 2111 1970 3326 3247 3406 0 0 0 0 0 0 28.83 26.71 28.83

4349 -1.35 -170.3 2111 1970 3244 3404 392.8 -8.9 254 4350 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 1970 3323 3243 3404 0 0 0 0 0 0 28.83 28.83 28.83

4427 end dive: TARGET_DEPTH_EXCEEDED

state 4427 begin apogee

4432 -0.25 0.0 2109 2305 3243 3403 400.2 -9.2 258 4597 0.70 0.00 154.48 1.017 10246 0.113 0.000 2341 2306 2640 2592 2689 0 0 0 0 1 0 26.48 28.83 24.22

4599 end apogee: CONTROL_FINISHED_OK

state 4600 begin climb

4601 1.35 170.3 2341 2306 2590 2689 386.1 0.0 265 4781 1.00 2.28 162.98 0.874 10500 0.057 0.033 2698 3680 1929 1897 1961 0 0 0 0 0 0 25.13 24.92 24.25

4943 1.37 175.2 2698 3680 1897 1947 355.0 9.1 280 4949 0.00 2.12 0.00 0.000 1030 0.000 0.023 2708 2306 1922 1897 1947 0 0 0 0 0 0 28.83 25.82 28.83

5257 1.40 187.2 2708 2307 1896 1943 325.9 8.8 296 5278 0.00 0.00 13.62 0.823 8198 0.000 0.000 2708 2306 1867 1842 1893 0 0 0 0 0 0 28.83 28.83 25.25

5577 1.40 189.9 2708 2306 1838 1885 297.1 9.2 312 5583 0.00 2.20 0.00 0.000 516 0.000 0.043 2718 893 1861 1837 1885 0 0 0 0 0 0 28.83 26.27 28.83

5678 1.42 196.6 2718 893 1837 1885 289.4 9.0 316 5687 0.00 2.08 4.20 0.648 9222 0.000 0.017 2718 2300 1837 1811 1864 0 0 0 0 0 0 28.83 26.41 25.25

5984 1.43 201.4 2718 2301 1811 1869 260.1 9.1 332 6000 0.00 2.17 8.62 0.787 8452 0.000 0.034 2718 3690 1815 1785 1846 0 0 0 0 0 0 28.83 26.29 25.51

6162 1.45 208.0 2718 3690 1784 1842 245.0 9.0 340 6176 0.00 2.10 7.25 0.768 9222 0.000 0.024 2728 2296 1789 1759 1820 0 0 0 0 0 0 28.83 26.39 25.49

6474 1.47 216.9 2728 2296 1758 1815 216.3 8.9 356 6489 0.00 0.00 10.50 0.757 8710 0.000 0.000 2728 2296 1749 1717 1781 0 0 0 0 0 0 28.83 28.83 25.53

6798 1.47 218.5 2728 2296 1716 1776 186.2 9.2 372 6804 0.00 2.17 0.00 0.000 516 0.000 0.044 2739 895 1746 1716 1776 0 0 0 0 0 0 28.83 26.38 28.83

6901 1.51 232.0 2739 895 1716 1776 178.5 8.8 376 6924 0.00 2.08 15.32 0.721 9222 0.000 0.018 2739 2304 1687 1652 1723 0 0 0 0 0 0 28.83 26.50 25.53

7234 1.52 238.6 2739 2304 1652 1716 147.6 9.0 393 7241 0.00 0.00 4.60 0.641 8198 0.000 0.000 2739 2304 1666 1631 1702 0 0 0 0 0 0 28.83 28.83 25.39

7534 1.53 242.9 2738 2304 1626 1703 120.7 9.1 408 7546 0.00 2.10 4.82 0.639 8452 0.000 0.034 2739 3684 1648 1604 1693 0 0 0 0 0 0 28.83 26.39 25.44

7574 1.56 254.2 1764 3683 1571 1685 118.5 8.9 409 7594 0.00 2.10 14.57 0.663 9222 0.000 0.025 2749 2300 1602 1552 1652 0 0 0 0 0 0 28.83 26.41 25.56

7908 1.57 258.2 2749 2300 1548 1641 87.4 9.1 426 7914 0.00 2.17 0.00 0.000 516 0.000 0.044 2759 900 1594 1548 1641 0 0 0 0 0 0 28.83 26.36 28.83

7934 1.59 264.4 2759 900 1548 1641 85.1 9.0 427 7951 0.00 2.08 10.23 0.631 9222 0.000 0.017 2760 2298 1558 1507 1610 0 0 0 0 0 0 28.83 26.46 25.61

8260 1.60 269.8 2759 2298 1504 1604 56.1 9.1 443 8271 0.00 2.12 4.10 0.535 8452 0.000 0.036 2759 3686 1539 1487 1591 0 0 0 0 0 0 28.83 26.37 25.46

8474 1.63 280.7 2759 3687 1487 1591 37.1 8.9 459 8495 0.00 2.10 14.05 0.581 9222 0.000 0.026 2769 2301 1489 1437 1542 0 0 0 0 0 0 28.83 26.46 25.66

8807 1.63 281.3 1728 2298 1409 1529 6.9 9.2 510 8815 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2303 1486 1437 1535 0 0 0 0 0 0 28.83 28.83 28.83

8847 end climb: SURFACE_DEPTH_REACHED

state 8847 begin surface coast

8883 end surface coast: CONTROL_FINISHED_OK

state 8883 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	164	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	37	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	66	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	-100700.86	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	220313,051434,1955.652,12005.258,141,1.2,141,-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	-64.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220313,052141,1955.754,12005.239,16,1.1,17,-2.6	MHEAD_RNG_PITCHd_Wd	354.4,202524,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3789

FINISH	0.0,1.024723	_10V_AH	10.2,15.802
SM_CCo	9132,1.95,0.107,0,0,399,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.55,0.50,1.95,0.075,0.043,0.107,85,1953,399,-10.56,0.93,549.47,0,0,0,0,0,0,26.44,26.48,25.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1948.12,12006.31,220313,020233	MEM	323924
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16797,523
HUMID	48.42	CAP_FILE_SIZE	399427,2122
INTERNAL_PRESSURE	9.12643	CFSIZE	260034560,232148992
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
XPDR_PINGS	0	CURRENT	0.059,276.7,1
SC_FREEKB	3960064	GPS	220313,075635,1956.620,12004.757,94,0.9,94,-2.6
_24V_AH	24.2,28.163

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	220	92.51	nil	0	0	0.00
Roll_motor	59	45	66.62	nil	0	0	0.00
VBD_pump_during_apogee	429	1016	10563.63	nil	0	0	0.00
VBD_pump_during_surface	212	690	3559.52	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	8892	5	1196.65
Iridium_during_xfer	250	132	803.09	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	5.34
TT8	2058	14	303.55
LPSleep	4774	2	106.65
TT8_Active	757	14	111.69
TT8_Sampling	1620	39	647.63
TT8_CF8	330	46	157.19
TT8_Kalman	0	0	0.00
Analog_circuits	1869	15	295.63
GPS_charging	0	0	0.00
Compass	1371	7	104.78
RAFOS	0	0	0.00
Transponder	1	5	0.08

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	87	2010	351	483	0.0	0.0	0	44	0.00	0.00	-23.92	0.000	16386	0.000	0.000	87	2010	1043	1026	1060	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	87	2010	1026	1062	3.2	-8.9	3	146	7.97	2.12	-85.28	0.000	18692	0.220	0.044	2090	3361	3337	3245	3429	0	0	0	0	0	0	25.79	26.16	26.44
391	-1.35	-170.3	2090	3362	3248	3430	34.1	-9.0	51	400	0.00	2.10	0.00	0.000	1030	0.000	0.022	2098	1953	3338	3248	3429	0	0	0	0	0	0	28.83	26.36	28.83
710	-1.35	-170.3	2098	1953	3252	3429	62.7	-9.0	76	716	0.00	2.12	0.00	0.000	260	0.000	0.029	2090	3363	3340	3252	3429	0	0	0	0	0	0	28.83	26.47	28.83
863	-1.35	-170.3	2089	3363	3252	3429	76.4	-8.9	83	869	0.00	2.05	0.00	0.000	1030	0.000	0.024	2092	1979	3341	3253	3429	0	0	0	0	0	0	28.83	26.52	28.83
1188	-1.35	-170.3	2090	1979	3254	3430	106.2	-9.0	99	1189	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	1978	3341	3254	3429	0	0	0	0	0	0	28.83	28.83	28.83
1489	-1.35	-170.3	2091	1979	3253	3429	133.2	-8.8	114	1490	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	1979	3341	3253	3429	0	0	0	0	0	0	28.83	28.83	28.83
1789	-1.35	-170.3	2091	1979	3253	3428	159.9	-9.1	129	1790	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	1978	3340	3253	3428	0	0	0	0	0	0	28.83	28.83	28.83
2091	-1.35	-170.3	2091	1979	3253	3425	187.3	-9.0	144	2097	0.00	2.08	0.00	0.000	260	0.000	0.030	2083	3359	3338	3253	3424	0	0	0	0	0	0	28.83	26.63	28.83
2201	-1.35	-170.3	2083	3359	3253	3423	197.5	-9.1	149	2207	0.00	2.05	0.00	0.000	1030	0.000	0.024	2088	1975	3337	3253	3422	0	0	0	0	0	0	28.83	26.66	28.83
2525	-1.35	-170.3	2088	1975	3253	3420	227.8	-9.0	165	2532	0.00	2.12	0.00	0.000	516	0.000	0.042	2096	578	3336	3253	3420	0	0	0	0	0	0	28.83	26.63	28.83
2572	-1.35	-170.3	2096	577	3253	3420	232.0	-9.0	167	2579	0.00	2.03	0.00	0.000	1030	0.000	0.016	2088	1989	3336	3253	3420	0	0	0	0	0	0	28.83	26.70	28.83
2898	-1.35	-170.3	2087	1990	3253	3416	261.6	-8.9	183	2904	0.00	2.17	0.00	0.000	516	0.000	0.041	2096	578	3334	3253	3416	0	0	0	0	0	0	28.83	26.63	28.83
2927	-1.35	-170.3	2095	578	3253	3416	263.9	-8.8	184	2934	0.00	2.00	0.00	0.000	1030	0.000	0.015	2088	1974	3334	3253	3416	0	0	0	0	0	0	28.83	26.71	28.83
3247	-1.35	-170.3	2087	1978	3252	3413	293.4	-9.4	200	3248	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1979	3332	3252	3413	0	0	0	0	0	0	28.83	28.83	28.83
3549	-1.35	-170.3	2087	1979	3250	3410	320.5	-9.0	215	3555	0.00	2.05	0.00	0.000	260	0.000	0.033	2077	3356	3329	3250	3409	0	0	0	0	0	0	28.83	26.65	28.83
3633	-1.35	-170.3	2077	3356	3249	3408	326.9	-9.1	218	3642	0.12	2.08	0.00	0.000	3078	0.153	0.028	2109	1972	3328	3249	3408	0	0	0	0	0	0	26.48	26.66	28.83
3938	-1.35	-170.3	2109	1972	3248	3407	355.6	-9.1	234	3945	0.00	2.15	0.00	0.000	516	0.000	0.046	2120	572	3327	3248	3406	0	0	0	0	0	0	28.83	26.63	28.83
4029	-1.35	-170.3	2119	572	3248	3406	363.4	-9.0	238	4035	0.00	2.03	0.00	0.000	1030	0.000	0.017	2111	1970	3326	3247	3406	0	0	0	0	0	0	28.83	26.71	28.83
4349	-1.35	-170.3	2111	1970	3244	3404	392.8	-8.9	254	4350	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	1970	3323	3243	3404	0	0	0	0	0	0	28.83	28.83	28.83
4427	end dive: TARGET_DEPTH_EXCEEDED
state	4427	begin apogee
4432	-0.25	0.0	2109	2305	3243	3403	400.2	-9.2	258	4597	0.70	0.00	154.48	1.017	10246	0.113	0.000	2341	2306	2640	2592	2689	0	0	0	0	1	0	26.48	28.83	24.22
4599	end apogee: CONTROL_FINISHED_OK
state	4600	begin climb
4601	1.35	170.3	2341	2306	2590	2689	386.1	0.0	265	4781	1.00	2.28	162.98	0.874	10500	0.057	0.033	2698	3680	1929	1897	1961	0	0	0	0	0	0	25.13	24.92	24.25
4943	1.37	175.2	2698	3680	1897	1947	355.0	9.1	280	4949	0.00	2.12	0.00	0.000	1030	0.000	0.023	2708	2306	1922	1897	1947	0	0	0	0	0	0	28.83	25.82	28.83
5257	1.40	187.2	2708	2307	1896	1943	325.9	8.8	296	5278	0.00	0.00	13.62	0.823	8198	0.000	0.000	2708	2306	1867	1842	1893	0	0	0	0	0	0	28.83	28.83	25.25
5577	1.40	189.9	2708	2306	1838	1885	297.1	9.2	312	5583	0.00	2.20	0.00	0.000	516	0.000	0.043	2718	893	1861	1837	1885	0	0	0	0	0	0	28.83	26.27	28.83
5678	1.42	196.6	2718	893	1837	1885	289.4	9.0	316	5687	0.00	2.08	4.20	0.648	9222	0.000	0.017	2718	2300	1837	1811	1864	0	0	0	0	0	0	28.83	26.41	25.25
5984	1.43	201.4	2718	2301	1811	1869	260.1	9.1	332	6000	0.00	2.17	8.62	0.787	8452	0.000	0.034	2718	3690	1815	1785	1846	0	0	0	0	0	0	28.83	26.29	25.51
6162	1.45	208.0	2718	3690	1784	1842	245.0	9.0	340	6176	0.00	2.10	7.25	0.768	9222	0.000	0.024	2728	2296	1789	1759	1820	0	0	0	0	0	0	28.83	26.39	25.49
6474	1.47	216.9	2728	2296	1758	1815	216.3	8.9	356	6489	0.00	0.00	10.50	0.757	8710	0.000	0.000	2728	2296	1749	1717	1781	0	0	0	0	0	0	28.83	28.83	25.53
6798	1.47	218.5	2728	2296	1716	1776	186.2	9.2	372	6804	0.00	2.17	0.00	0.000	516	0.000	0.044	2739	895	1746	1716	1776	0	0	0	0	0	0	28.83	26.38	28.83
6901	1.51	232.0	2739	895	1716	1776	178.5	8.8	376	6924	0.00	2.08	15.32	0.721	9222	0.000	0.018	2739	2304	1687	1652	1723	0	0	0	0	0	0	28.83	26.50	25.53
7234	1.52	238.6	2739	2304	1652	1716	147.6	9.0	393	7241	0.00	0.00	4.60	0.641	8198	0.000	0.000	2739	2304	1666	1631	1702	0	0	0	0	0	0	28.83	28.83	25.39
7534	1.53	242.9	2738	2304	1626	1703	120.7	9.1	408	7546	0.00	2.10	4.82	0.639	8452	0.000	0.034	2739	3684	1648	1604	1693	0	0	0	0	0	0	28.83	26.39	25.44
7574	1.56	254.2	1764	3683	1571	1685	118.5	8.9	409	7594	0.00	2.10	14.57	0.663	9222	0.000	0.025	2749	2300	1602	1552	1652	0	0	0	0	0	0	28.83	26.41	25.56
7908	1.57	258.2	2749	2300	1548	1641	87.4	9.1	426	7914	0.00	2.17	0.00	0.000	516	0.000	0.044	2759	900	1594	1548	1641	0	0	0	0	0	0	28.83	26.36	28.83
7934	1.59	264.4	2759	900	1548	1641	85.1	9.0	427	7951	0.00	2.08	10.23	0.631	9222	0.000	0.017	2760	2298	1558	1507	1610	0	0	0	0	0	0	28.83	26.46	25.61
8260	1.60	269.8	2759	2298	1504	1604	56.1	9.1	443	8271	0.00	2.12	4.10	0.535	8452	0.000	0.036	2759	3686	1539	1487	1591	0	0	0	0	0	0	28.83	26.37	25.46
8474	1.63	280.7	2759	3687	1487	1591	37.1	8.9	459	8495	0.00	2.10	14.05	0.581	9222	0.000	0.026	2769	2301	1489	1437	1542	0	0	0	0	0	0	28.83	26.46	25.66
8807	1.63	281.3	1728	2298	1409	1529	6.9	9.2	510	8815	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2303	1486	1437	1535	0	0	0	0	0	0	28.83	28.83	28.83
8847	end climb: SURFACE_DEPTH_REACHED
state	8847	begin surface coast
8883	end surface coast: CONTROL_FINISHED_OK
state	8883	begin surface