Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 166 * 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 166 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 63 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 -100703.37 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 -100703.37

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 63 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 166 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 220313,103928,1958.155,12004.640,134,1.1,134,-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 -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220313,104623,1958.197,12004.658,16,1.2,17,-2.6 MHEAD_RNG_PITCHd_Wd 11.2,197961,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3717

Post-dive calculations and measurements:

FINISH 0.0,1.024785 _10V_AH 10.2,15.931

SM_CCo 9184,0.03,0.307,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.50,0.50,0.03,0.074,0.042,0.307,88,1951,401,-10.54,0.90,549.47,0,0,0,0,0,0,26.49,26.54,25.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1950.41,12003.17,220313,070726 MEM 323852

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16759,521

HUMID 48.89 CAP_FILE_SIZE 405537,2149

INTERNAL_PRESSURE 9.1362 CFSIZE 260034560,231911424

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

XPDR_PINGS 2 CURRENT 0.209, 26.6,1

SC_FREEKB 3959296 GPS 220313,132234,2000.044,12005.208,119,1.0,119,-2.6

_24V_AH 24.2,28.488

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 223 94.47 nil 0 0 0.00

Roll_motor 73 45 81.64 nil 0 0 0.00

VBD_pump_during_apogee 451 1031 11276.78 nil 0 0 0.00

VBD_pump_during_surface 221 696 3739.89 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 8935 5 1201.79

Iridium_during_xfer 236 133 767.66 nil 0 0 0.00

Transponder_ping 0 420 5.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.62

TT8 2069 14 305.17

LPSleep 4734 2 105.76

TT8_Active 798 14 117.77

TT8_Sampling 1630 39 651.78

TT8_CF8 346 46 165.01

TT8_Kalman 0 0 0.00

Analog_circuits 1935 15 306.07

GPS_charging 0 0 0.00

Compass 1416 7 108.20

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.35 -170.3 82 1939 342 481 0.0 0.0 0 43 0.00 0.00 -23.58 0.000 16386 0.000 0.000 83 1938 1025 1006 1044 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 83 1939 1007 1046 3.2 -9.1 3 160 8.07 2.22 -93.47 0.000 18692 0.223 0.046 2091 3359 3337 3248 3427 0 0 0 0 0 0 25.77 26.17 26.46

228 -1.35 -170.3 1232 3357 3222 3424 19.9 -9.2 30 236 0.00 2.10 0.00 0.000 1030 0.000 0.026 2099 1976 3338 3250 3427 0 0 0 0 0 0 28.83 26.25 28.83

549 -1.35 -170.3 2099 1976 3253 3427 48.9 -9.2 66 556 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1976 3340 3253 3427 0 0 0 0 0 0 28.83 28.83 28.83

868 -1.35 -170.3 2099 1976 3255 3427 77.8 -9.1 83 874 0.00 2.10 0.00 0.000 260 0.000 0.029 2091 3368 3341 3255 3427 0 0 0 0 0 0 28.83 26.51 28.83

919 -1.35 -170.3 2091 3368 3255 3427 82.1 -9.1 85 925 0.00 2.10 0.00 0.000 1030 0.000 0.024 2096 1962 3341 3255 3427 0 0 0 0 0 0 28.83 26.53 28.83

1239 -1.35 -170.3 2095 1961 3256 3427 111.6 -8.9 101 1240 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 1961 3341 3256 3427 0 0 0 0 0 0 28.83 28.83 28.83

1540 -1.35 -170.3 2095 1961 3256 3427 138.3 -8.8 116 1546 0.00 2.12 0.00 0.000 260 0.000 0.029 2087 3374 3341 3256 3427 0 0 0 0 0 0 28.83 26.60 28.83

1612 -1.35 -170.3 2087 3374 3256 3427 144.4 -8.9 119 1617 0.00 2.10 0.00 0.000 1030 0.000 0.024 2094 1964 3342 3256 3428 0 0 0 0 0 0 28.83 26.62 28.83

1932 -1.35 -170.3 2094 1963 3256 3425 174.1 -9.0 135 1938 0.00 2.12 0.00 0.000 516 0.000 0.042 2105 567 3340 3256 3424 0 0 0 0 0 0 28.83 26.60 28.83

2110 -1.35 -170.3 2103 567 3256 3423 189.5 -8.9 143 2116 0.00 2.03 0.00 0.000 1030 0.000 0.016 2095 1981 3339 3256 3423 0 0 0 0 0 0 28.83 26.69 28.83

2425 -1.35 -170.3 2095 1982 3255 3421 219.0 -9.2 159 2431 0.00 2.05 0.00 0.000 260 0.000 0.031 2085 3365 3337 3255 3420 0 0 0 0 0 0 28.83 26.64 28.83

2459 -1.35 -170.3 2085 3365 3255 3419 221.3 -9.3 160 2466 0.00 2.08 0.00 0.000 1030 0.000 0.026 2089 1975 3337 3256 3419 0 0 0 0 0 0 28.83 26.65 28.83

2775 -1.35 -170.3 2090 1975 3255 3416 249.7 -8.7 176 2777 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 1975 3335 3255 3416 0 0 0 0 0 0 28.83 28.83 28.83

3077 -1.35 -170.3 2089 1975 3253 3414 276.7 -8.4 191 3084 0.00 2.15 0.00 0.000 516 0.000 0.044 2099 569 3333 3253 3413 0 0 0 0 0 0 28.83 26.63 28.83

3154 -1.35 -170.3 2099 569 3253 3413 283.0 -9.0 194 3160 0.00 2.03 0.00 0.000 1030 0.000 0.017 2090 1974 3333 3253 3413 0 0 0 0 0 0 28.83 26.71 28.83

3469 -1.35 -170.3 2090 1975 3252 3410 312.0 -8.9 210 3470 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1975 3331 3252 3410 0 0 0 0 0 0 28.83 28.83 28.83

3770 -1.35 -170.3 2090 1975 3249 3408 339.1 -9.2 225 3771 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1975 3328 3249 3408 0 0 0 0 0 0 28.83 28.83 28.83

4071 -1.35 -170.3 2089 1979 3247 3406 365.8 -9.1 240 4076 0.00 2.17 0.00 0.000 516 0.000 0.044 2099 578 3326 3247 3406 0 0 0 0 0 0 28.83 26.62 28.83

4131 -1.35 -170.3 1320 575 3223 3402 370.1 -9.1 242 4140 0.00 2.03 0.00 0.000 1030 0.000 0.017 2090 1973 3326 3246 3406 0 0 0 0 0 0 28.83 26.72 28.83

4438 -1.35 -170.3 2090 1973 3243 3403 399.2 -9.2 258 4445 0.00 2.17 0.00 0.000 516 0.000 0.045 2098 579 3323 3243 3404 0 0 0 0 0 0 28.83 26.62 28.83

4463 end dive: TARGET_DEPTH_EXCEEDED

state 4463 begin apogee

4470 -0.25 0.0 2088 2296 3243 3403 401.6 -9.1 259 4636 0.77 0.00 152.73 1.031 10246 0.118 0.000 2342 2297 2639 2588 2690 0 0 0 0 1 0 26.46 28.83 24.22

4638 end apogee: CONTROL_FINISHED_OK

state 4638 begin climb

4640 1.35 170.3 2342 2297 2587 2690 386.7 0.0 266 4842 1.00 2.33 189.65 0.801 10500 0.055 0.034 2702 3695 1936 1899 1973 0 0 0 0 0 0 25.15 24.98 24.39

5082 1.37 178.0 2701 3695 1895 1954 346.2 9.0 286 5089 0.00 2.15 1.62 0.047 9222 0.000 0.024 2712 2301 1912 1883 1942 0 0 0 0 0 0 28.83 25.97 25.94

5403 1.40 189.5 2711 2301 1883 1945 317.4 8.8 302 5427 0.00 2.30 16.85 0.802 8708 0.000 0.042 2722 890 1858 1828 1889 0 0 0 0 0 0 28.83 25.98 25.27

5575 1.43 199.5 2722 890 1820 1879 301.8 8.9 310 5583 0.00 2.12 3.08 0.419 9222 0.000 0.017 2722 2312 1825 1794 1857 0 0 0 0 0 0 28.83 26.25 25.18

5903 1.48 219.7 2722 2312 1793 1870 272.7 8.5 326 5938 0.00 2.20 27.70 0.778 8452 0.000 0.034 2722 3687 1734 1700 1769 0 0 0 0 0 0 28.83 25.95 25.27

6056 1.50 227.5 2722 3687 1693 1755 258.9 9.0 333 6062 0.00 2.12 1.67 0.052 9222 0.000 0.024 2733 2297 1710 1678 1742 0 0 0 0 0 0 28.83 26.15 26.10

6382 1.50 229.0 2732 2297 1678 1752 229.5 9.2 349 6388 0.00 2.15 0.00 0.000 260 0.000 0.033 2732 3693 1714 1678 1751 0 0 0 0 0 0 28.83 26.35 28.83

6451 1.52 235.2 2732 3693 1678 1751 223.6 9.0 352 6470 0.00 2.12 12.55 0.732 9222 0.000 0.025 2743 2294 1677 1642 1713 0 0 0 0 0 0 28.83 26.39 25.48

6769 1.52 238.4 2742 2294 1637 1702 194.5 9.1 368 6774 0.00 2.15 0.00 0.000 260 0.000 0.034 2743 3688 1669 1637 1702 0 0 0 0 0 0 28.83 26.37 28.83

6825 1.53 242.4 2742 3688 1637 1702 190.2 9.1 370 6840 0.00 2.12 4.62 0.646 9222 0.000 0.025 2752 2291 1649 1608 1691 0 0 0 0 0 0 28.83 26.40 25.37

7136 1.53 242.4 2751 2290 1608 1694 161.5 9.4 386 7143 0.00 2.17 0.00 0.000 516 0.000 0.044 2763 887 1651 1608 1694 0 0 0 0 0 0 28.83 26.41 28.83

7163 1.54 243.5 2762 888 1608 1694 159.3 9.2 387 7170 0.12 2.10 0.00 0.000 5126 0.187 0.018 2734 2312 1651 1608 1694 0 0 0 0 0 0 26.24 26.50 28.83

7489 1.56 254.6 2734 2312 1608 1694 129.7 8.9 403 7512 0.00 2.10 15.40 0.662 8452 0.000 0.035 2734 3685 1595 1546 1645 0 0 0 0 0 0 28.83 26.30 25.65

7550 1.58 261.2 2734 3685 1546 1643 125.4 9.0 405 7563 0.00 2.12 4.82 0.631 9222 0.000 0.028 2743 2296 1574 1523 1625 0 0 0 0 0 0 28.83 26.34 25.40

7884 1.59 264.7 2743 2297 1523 1626 94.2 9.1 422 7895 0.00 2.20 4.25 0.568 8708 0.000 0.044 2754 897 1560 1508 1613 0 0 0 0 0 0 28.83 26.35 25.44

7966 1.61 273.4 2754 897 1509 1614 88.1 8.9 425 7985 0.00 2.08 12.95 0.621 9222 0.000 0.018 2754 2296 1522 1469 1576 0 0 0 0 0 0 28.83 26.45 25.60

8301 1.61 273.4 2754 2296 1465 1568 56.4 9.3 442 8307 0.00 2.15 0.00 0.000 260 0.000 0.037 2754 3701 1516 1465 1568 0 0 0 0 0 0 28.83 26.39 28.83

8435 1.61 274.7 2754 3701 1465 1567 44.3 9.2 450 8440 0.00 2.12 0.00 0.000 1030 0.000 0.027 2763 2300 1516 1465 1567 0 0 0 0 0 0 28.83 26.46 28.83

8752 1.62 278.9 1728 2297 1436 1560 15.4 9.1 490 8760 0.00 0.00 3.97 0.490 8198 0.000 0.000 2763 2299 1501 1450 1553 0 0 0 0 0 0 28.83 28.83 25.58

8889 end climb: SURFACE_DEPTH_REACHED

state 8889 begin surface coast

8925 end surface coast: CONTROL_FINISHED_OK

state 8925 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	166	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	63	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	-100703.37	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	220313,103928,1958.155,12004.640,134,1.1,134,-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	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220313,104623,1958.197,12004.658,16,1.2,17,-2.6	MHEAD_RNG_PITCHd_Wd	11.2,197961,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3717

FINISH	0.0,1.024785	_10V_AH	10.2,15.931
SM_CCo	9184,0.03,0.307,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.50,0.50,0.03,0.074,0.042,0.307,88,1951,401,-10.54,0.90,549.47,0,0,0,0,0,0,26.49,26.54,25.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1950.41,12003.17,220313,070726	MEM	323852
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16759,521
HUMID	48.89	CAP_FILE_SIZE	405537,2149
INTERNAL_PRESSURE	9.1362	CFSIZE	260034560,231911424
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
XPDR_PINGS	2	CURRENT	0.209, 26.6,1
SC_FREEKB	3959296	GPS	220313,132234,2000.044,12005.208,119,1.0,119,-2.6
_24V_AH	24.2,28.488

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	223	94.47	nil	0	0	0.00
Roll_motor	73	45	81.64	nil	0	0	0.00
VBD_pump_during_apogee	451	1031	11276.78	nil	0	0	0.00
VBD_pump_during_surface	221	696	3739.89	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	8935	5	1201.79
Iridium_during_xfer	236	133	767.66	nil	0	0	0.00
Transponder_ping	0	420	5.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.62
TT8	2069	14	305.17
LPSleep	4734	2	105.76
TT8_Active	798	14	117.77
TT8_Sampling	1630	39	651.78
TT8_CF8	346	46	165.01
TT8_Kalman	0	0	0.00
Analog_circuits	1935	15	306.07
GPS_charging	0	0	0.00
Compass	1416	7	108.20
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.35	-170.3	82	1939	342	481	0.0	0.0	0	43	0.00	0.00	-23.58	0.000	16386	0.000	0.000	83	1938	1025	1006	1044	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	83	1939	1007	1046	3.2	-9.1	3	160	8.07	2.22	-93.47	0.000	18692	0.223	0.046	2091	3359	3337	3248	3427	0	0	0	0	0	0	25.77	26.17	26.46
228	-1.35	-170.3	1232	3357	3222	3424	19.9	-9.2	30	236	0.00	2.10	0.00	0.000	1030	0.000	0.026	2099	1976	3338	3250	3427	0	0	0	0	0	0	28.83	26.25	28.83
549	-1.35	-170.3	2099	1976	3253	3427	48.9	-9.2	66	556	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1976	3340	3253	3427	0	0	0	0	0	0	28.83	28.83	28.83
868	-1.35	-170.3	2099	1976	3255	3427	77.8	-9.1	83	874	0.00	2.10	0.00	0.000	260	0.000	0.029	2091	3368	3341	3255	3427	0	0	0	0	0	0	28.83	26.51	28.83
919	-1.35	-170.3	2091	3368	3255	3427	82.1	-9.1	85	925	0.00	2.10	0.00	0.000	1030	0.000	0.024	2096	1962	3341	3255	3427	0	0	0	0	0	0	28.83	26.53	28.83
1239	-1.35	-170.3	2095	1961	3256	3427	111.6	-8.9	101	1240	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	1961	3341	3256	3427	0	0	0	0	0	0	28.83	28.83	28.83
1540	-1.35	-170.3	2095	1961	3256	3427	138.3	-8.8	116	1546	0.00	2.12	0.00	0.000	260	0.000	0.029	2087	3374	3341	3256	3427	0	0	0	0	0	0	28.83	26.60	28.83
1612	-1.35	-170.3	2087	3374	3256	3427	144.4	-8.9	119	1617	0.00	2.10	0.00	0.000	1030	0.000	0.024	2094	1964	3342	3256	3428	0	0	0	0	0	0	28.83	26.62	28.83
1932	-1.35	-170.3	2094	1963	3256	3425	174.1	-9.0	135	1938	0.00	2.12	0.00	0.000	516	0.000	0.042	2105	567	3340	3256	3424	0	0	0	0	0	0	28.83	26.60	28.83
2110	-1.35	-170.3	2103	567	3256	3423	189.5	-8.9	143	2116	0.00	2.03	0.00	0.000	1030	0.000	0.016	2095	1981	3339	3256	3423	0	0	0	0	0	0	28.83	26.69	28.83
2425	-1.35	-170.3	2095	1982	3255	3421	219.0	-9.2	159	2431	0.00	2.05	0.00	0.000	260	0.000	0.031	2085	3365	3337	3255	3420	0	0	0	0	0	0	28.83	26.64	28.83
2459	-1.35	-170.3	2085	3365	3255	3419	221.3	-9.3	160	2466	0.00	2.08	0.00	0.000	1030	0.000	0.026	2089	1975	3337	3256	3419	0	0	0	0	0	0	28.83	26.65	28.83
2775	-1.35	-170.3	2090	1975	3255	3416	249.7	-8.7	176	2777	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	1975	3335	3255	3416	0	0	0	0	0	0	28.83	28.83	28.83
3077	-1.35	-170.3	2089	1975	3253	3414	276.7	-8.4	191	3084	0.00	2.15	0.00	0.000	516	0.000	0.044	2099	569	3333	3253	3413	0	0	0	0	0	0	28.83	26.63	28.83
3154	-1.35	-170.3	2099	569	3253	3413	283.0	-9.0	194	3160	0.00	2.03	0.00	0.000	1030	0.000	0.017	2090	1974	3333	3253	3413	0	0	0	0	0	0	28.83	26.71	28.83
3469	-1.35	-170.3	2090	1975	3252	3410	312.0	-8.9	210	3470	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1975	3331	3252	3410	0	0	0	0	0	0	28.83	28.83	28.83
3770	-1.35	-170.3	2090	1975	3249	3408	339.1	-9.2	225	3771	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1975	3328	3249	3408	0	0	0	0	0	0	28.83	28.83	28.83
4071	-1.35	-170.3	2089	1979	3247	3406	365.8	-9.1	240	4076	0.00	2.17	0.00	0.000	516	0.000	0.044	2099	578	3326	3247	3406	0	0	0	0	0	0	28.83	26.62	28.83
4131	-1.35	-170.3	1320	575	3223	3402	370.1	-9.1	242	4140	0.00	2.03	0.00	0.000	1030	0.000	0.017	2090	1973	3326	3246	3406	0	0	0	0	0	0	28.83	26.72	28.83
4438	-1.35	-170.3	2090	1973	3243	3403	399.2	-9.2	258	4445	0.00	2.17	0.00	0.000	516	0.000	0.045	2098	579	3323	3243	3404	0	0	0	0	0	0	28.83	26.62	28.83
4463	end dive: TARGET_DEPTH_EXCEEDED
state	4463	begin apogee
4470	-0.25	0.0	2088	2296	3243	3403	401.6	-9.1	259	4636	0.77	0.00	152.73	1.031	10246	0.118	0.000	2342	2297	2639	2588	2690	0	0	0	0	1	0	26.46	28.83	24.22
4638	end apogee: CONTROL_FINISHED_OK
state	4638	begin climb
4640	1.35	170.3	2342	2297	2587	2690	386.7	0.0	266	4842	1.00	2.33	189.65	0.801	10500	0.055	0.034	2702	3695	1936	1899	1973	0	0	0	0	0	0	25.15	24.98	24.39
5082	1.37	178.0	2701	3695	1895	1954	346.2	9.0	286	5089	0.00	2.15	1.62	0.047	9222	0.000	0.024	2712	2301	1912	1883	1942	0	0	0	0	0	0	28.83	25.97	25.94
5403	1.40	189.5	2711	2301	1883	1945	317.4	8.8	302	5427	0.00	2.30	16.85	0.802	8708	0.000	0.042	2722	890	1858	1828	1889	0	0	0	0	0	0	28.83	25.98	25.27
5575	1.43	199.5	2722	890	1820	1879	301.8	8.9	310	5583	0.00	2.12	3.08	0.419	9222	0.000	0.017	2722	2312	1825	1794	1857	0	0	0	0	0	0	28.83	26.25	25.18
5903	1.48	219.7	2722	2312	1793	1870	272.7	8.5	326	5938	0.00	2.20	27.70	0.778	8452	0.000	0.034	2722	3687	1734	1700	1769	0	0	0	0	0	0	28.83	25.95	25.27
6056	1.50	227.5	2722	3687	1693	1755	258.9	9.0	333	6062	0.00	2.12	1.67	0.052	9222	0.000	0.024	2733	2297	1710	1678	1742	0	0	0	0	0	0	28.83	26.15	26.10
6382	1.50	229.0	2732	2297	1678	1752	229.5	9.2	349	6388	0.00	2.15	0.00	0.000	260	0.000	0.033	2732	3693	1714	1678	1751	0	0	0	0	0	0	28.83	26.35	28.83
6451	1.52	235.2	2732	3693	1678	1751	223.6	9.0	352	6470	0.00	2.12	12.55	0.732	9222	0.000	0.025	2743	2294	1677	1642	1713	0	0	0	0	0	0	28.83	26.39	25.48
6769	1.52	238.4	2742	2294	1637	1702	194.5	9.1	368	6774	0.00	2.15	0.00	0.000	260	0.000	0.034	2743	3688	1669	1637	1702	0	0	0	0	0	0	28.83	26.37	28.83
6825	1.53	242.4	2742	3688	1637	1702	190.2	9.1	370	6840	0.00	2.12	4.62	0.646	9222	0.000	0.025	2752	2291	1649	1608	1691	0	0	0	0	0	0	28.83	26.40	25.37
7136	1.53	242.4	2751	2290	1608	1694	161.5	9.4	386	7143	0.00	2.17	0.00	0.000	516	0.000	0.044	2763	887	1651	1608	1694	0	0	0	0	0	0	28.83	26.41	28.83
7163	1.54	243.5	2762	888	1608	1694	159.3	9.2	387	7170	0.12	2.10	0.00	0.000	5126	0.187	0.018	2734	2312	1651	1608	1694	0	0	0	0	0	0	26.24	26.50	28.83
7489	1.56	254.6	2734	2312	1608	1694	129.7	8.9	403	7512	0.00	2.10	15.40	0.662	8452	0.000	0.035	2734	3685	1595	1546	1645	0	0	0	0	0	0	28.83	26.30	25.65
7550	1.58	261.2	2734	3685	1546	1643	125.4	9.0	405	7563	0.00	2.12	4.82	0.631	9222	0.000	0.028	2743	2296	1574	1523	1625	0	0	0	0	0	0	28.83	26.34	25.40
7884	1.59	264.7	2743	2297	1523	1626	94.2	9.1	422	7895	0.00	2.20	4.25	0.568	8708	0.000	0.044	2754	897	1560	1508	1613	0	0	0	0	0	0	28.83	26.35	25.44
7966	1.61	273.4	2754	897	1509	1614	88.1	8.9	425	7985	0.00	2.08	12.95	0.621	9222	0.000	0.018	2754	2296	1522	1469	1576	0	0	0	0	0	0	28.83	26.45	25.60
8301	1.61	273.4	2754	2296	1465	1568	56.4	9.3	442	8307	0.00	2.15	0.00	0.000	260	0.000	0.037	2754	3701	1516	1465	1568	0	0	0	0	0	0	28.83	26.39	28.83
8435	1.61	274.7	2754	3701	1465	1567	44.3	9.2	450	8440	0.00	2.12	0.00	0.000	1030	0.000	0.027	2763	2300	1516	1465	1567	0	0	0	0	0	0	28.83	26.46	28.83
8752	1.62	278.9	1728	2297	1436	1560	15.4	9.1	490	8760	0.00	0.00	3.97	0.490	8198	0.000	0.000	2763	2299	1501	1450	1553	0	0	0	0	0	0	28.83	28.83	25.58
8889	end climb: SURFACE_DEPTH_REACHED
state	8889	begin surface coast
8925	end surface coast: CONTROL_FINISHED_OK
state	8925	begin surface