Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 167 * 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 167 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 53 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 -100704.62 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 -100704.62

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 53 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 167 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 220313,132234,2000.044,12005.208,119,1.0,119,-2.6 TGT_NAME W2A

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -23.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220313,132912,2000.077,12005.244,15,1.6,16,-2.6 MHEAD_RNG_PITCHd_Wd 334.6,194527,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3680

Post-dive calculations and measurements:

FINISH 0.1,0.000000 _10V_AH 10.1,15.988

SM_CCo 9174,2.47,0.263,0,0,399,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.60,0.50,2.47,0.079,0.043,0.263,87,1953,399,-10.54,0.93,549.47,0,0,0,0,0,0,26.37,26.41,24.63 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1952.70,12004.32,220313,101019 MEM 323924

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20103,531

HUMID 48.70 CAP_FILE_SIZE 346864,2152

INTERNAL_PRESSURE 9.0776 CFSIZE 260034560,231858176

TCM_TEMP 18.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

XPDR_PINGS 1 CURRENT 0.231, 20.8,1

SC_FREEKB 3959040 GPS 220313,160704,2001.640,12005.380,229,1.0,229,-2.6

_24V_AH 24.2,28.649

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 214 90.20 nil 0 0 0.00

Roll_motor 68 53 89.22 nil 0 0 0.00

VBD_pump_during_apogee 442 1032 11069.20 nil 0 0 0.00

VBD_pump_during_surface 225 729 3978.91 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 8922 3 792.61

Iridium_during_xfer 221 132 707.81 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.26

TT8 1375 14 200.84

LPSleep 5501 2 121.68

TT8_Active 755 14 110.38

TT8_Sampling 1618 39 640.43

TT8_CF8 303 46 143.22

TT8_Kalman 0 0 0.00

Analog_circuits 1879 15 294.25

GPS_charging 0 0 0.00

Compass 1409 7 106.64

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 1941 342 488 0.0 0.0 0 44 0.00 0.00 -23.83 0.000 16386 0.000 0.000 86 1939 1034 1021 1048 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 87 1939 1021 1050 3.4 -9.1 3 153 7.88 2.28 -92.47 0.000 18692 0.214 0.044 2090 3383 3337 3245 3429 0 0 0 0 0 0 25.77 26.16 26.46

316 -1.35 -170.3 2089 3384 3248 3428 27.5 -9.0 44 324 0.00 2.12 0.00 0.000 1030 0.000 0.026 2098 1981 3338 3248 3429 0 0 0 0 0 0 28.83 26.30 28.83

624 -1.35 -170.3 2098 1981 3251 3428 55.9 -8.9 72 630 0.00 2.10 0.00 0.000 260 0.000 0.029 2089 3374 3339 3251 3428 0 0 0 0 0 0 28.83 26.44 28.83

776 -1.35 -170.3 2089 3374 3252 3429 69.6 -9.0 79 781 0.00 2.10 0.00 0.000 1030 0.000 0.024 2094 1966 3340 3252 3428 0 0 0 0 0 0 28.83 26.50 28.83

1096 -1.35 -170.3 2094 1965 3253 3429 98.2 -9.1 95 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2095 1966 3340 3253 3428 0 0 0 0 0 0 28.83 28.83 28.83

1397 -1.35 -170.3 2096 1965 3253 3429 125.5 -9.0 110 1398 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1966 3340 3253 3428 0 0 0 0 0 0 28.83 28.83 28.83

1696 -1.35 -170.3 2094 1965 3253 3428 152.8 -9.0 125 1702 0.00 2.10 0.00 0.000 516 0.000 0.041 2104 575 3340 3253 3428 0 0 0 0 0 0 28.83 26.58 28.83

1865 -1.35 -170.3 1280 575 3227 3424 168.4 -9.1 133 1871 0.00 2.03 0.00 0.000 1030 0.000 0.015 2095 1992 3340 3253 3427 0 0 0 0 0 0 28.83 26.68 28.83

2190 -1.35 -170.3 2095 1992 3253 3423 196.7 -8.4 149 2196 0.00 2.03 0.00 0.000 260 0.000 0.031 2085 3360 3338 3253 3423 0 0 0 0 0 0 28.83 26.63 28.83

2266 -1.35 -170.3 2085 3360 3253 3422 202.7 -9.0 152 2273 0.00 2.08 0.00 0.000 1030 0.000 0.024 2092 1967 3337 3253 3422 0 0 0 0 0 0 28.83 26.65 28.83

2582 -1.35 -170.3 2092 1967 3253 3420 232.1 -8.7 168 2588 0.00 2.12 0.00 0.000 516 0.000 0.044 2102 572 3336 3253 3419 0 0 0 0 0 0 28.83 26.61 28.83

2617 -1.35 -170.3 2102 572 3253 3419 234.4 -8.8 169 2623 0.00 2.03 0.00 0.000 1030 0.000 0.016 2094 1977 3336 3253 3419 0 0 0 0 0 0 28.83 26.70 28.83

2932 -1.35 -170.3 2093 1977 3252 3415 263.0 -8.7 185 2933 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1977 3334 3253 3415 0 0 0 0 0 0 28.83 28.83 28.83

3233 -1.35 -170.3 2093 1978 3252 3413 290.1 -9.1 200 3238 0.00 2.05 0.00 0.000 260 0.000 0.033 2084 3357 3332 3252 3412 0 0 0 0 0 0 28.83 26.65 28.83

3283 -1.35 -170.3 2084 3357 3251 3411 294.3 -8.8 202 3289 0.00 2.08 0.00 0.000 1030 0.000 0.027 2087 1972 3331 3252 3411 0 0 0 0 0 0 28.83 26.65 28.83

3604 -1.35 -170.3 2086 1973 3250 3409 323.9 -8.8 218 3605 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1973 3329 3250 3409 0 0 0 0 0 0 28.83 28.83 28.83

3905 -1.35 -170.3 2086 1972 3248 3407 350.7 -9.0 233 3911 0.00 2.15 0.00 0.000 516 0.000 0.054 2096 575 3327 3248 3406 0 0 0 0 0 0 28.83 26.62 28.83

3988 -1.35 -170.3 2096 575 3248 3406 357.2 -9.4 236 3997 0.00 2.03 0.00 0.000 1030 0.000 0.017 2087 1972 3327 3248 3406 0 0 0 0 0 0 28.83 26.71 28.83

4293 -1.35 -170.3 2086 1978 3245 3404 386.4 -8.8 252 4300 0.00 2.08 0.00 0.000 260 0.000 0.034 2077 3360 3324 3245 3403 0 0 0 0 0 0 28.83 26.64 28.83

4334 -1.35 -170.3 2076 3360 3245 3403 388.6 -8.8 253 4343 0.10 2.10 0.00 0.000 3078 0.164 0.029 2103 1968 3324 3245 3403 0 0 0 0 0 0 26.48 26.65 28.83

4461 end dive: TARGET_DEPTH_EXCEEDED

state 4461 begin apogee

4466 -0.25 0.0 2102 2313 3244 3402 401.3 -8.9 260 4630 0.73 0.00 153.82 1.033 10246 0.114 0.000 2342 2314 2639 2589 2690 0 0 0 0 1 0 26.46 28.83 24.20

4633 end apogee: CONTROL_FINISHED_OK

state 4633 begin climb

4635 1.35 170.3 2342 2314 2589 2690 386.6 0.0 267 4825 1.00 2.20 177.73 0.833 10500 0.055 0.034 2701 3686 1935 1899 1972 0 0 0 0 0 0 25.12 24.94 24.35

4928 1.37 177.9 2701 3686 1896 1954 359.8 9.0 280 4934 0.00 2.17 1.75 0.047 9222 0.000 0.024 2711 2297 1912 1883 1941 0 0 0 0 0 0 28.83 25.62 25.59

5248 1.40 187.7 2710 2297 1883 1944 330.6 8.9 296 5272 0.00 2.20 14.77 0.829 8452 0.000 0.031 2711 3690 1864 1834 1894 0 0 0 0 0 0 28.83 25.93 25.19

5465 1.41 194.1 2710 3690 1830 1886 311.7 9.0 306 5473 0.00 2.12 1.50 0.052 9222 0.000 0.024 2720 2297 1845 1816 1874 0 0 0 0 0 0 28.83 26.20 26.14

5774 1.41 194.1 2720 2297 1816 1879 282.7 9.5 322 5775 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2297 1847 1816 1879 0 0 0 0 0 0 28.83 28.83 28.83

6075 1.43 199.8 2720 2297 1816 1880 255.9 9.1 337 6089 0.00 2.15 9.75 0.779 8452 0.000 0.031 2720 3687 1820 1789 1851 0 0 0 0 0 0 28.83 26.29 25.55

6120 1.45 207.3 2720 3687 1787 1849 252.6 9.0 338 6134 0.00 2.12 7.88 0.781 9222 0.000 0.024 2730 2293 1791 1759 1823 0 0 0 0 0 0 28.83 26.34 25.46

6452 1.45 209.7 2730 2293 1757 1817 222.2 9.2 355 6453 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2293 1787 1757 1817 0 0 0 0 0 0 28.83 28.83 28.83

6750 1.47 216.3 2730 2293 1757 1816 195.2 9.0 370 6765 0.00 2.15 9.85 0.747 8452 0.000 0.032 2730 3683 1753 1721 1786 0 0 0 0 0 0 28.83 26.32 25.60

6851 1.48 221.1 2730 3683 1719 1780 186.5 9.1 374 6859 0.00 2.10 3.72 0.589 9222 0.000 0.025 2740 2300 1737 1707 1767 0 0 0 0 0 0 28.83 26.38 25.33

7166 1.49 224.3 2740 2300 1706 1768 157.7 9.1 390 7175 0.00 2.20 4.03 0.614 8708 0.000 0.044 2751 896 1724 1693 1755 0 0 0 0 0 0 28.83 26.36 25.39

7221 1.51 234.5 2750 897 1693 1756 152.8 8.9 393 7240 0.10 2.08 13.70 0.711 13318 0.194 0.018 2730 2303 1683 1650 1716 0 0 0 0 0 0 26.22 26.46 25.53

7542 1.51 234.5 2730 2303 1645 1706 123.4 9.6 409 7548 0.00 2.12 0.00 0.000 260 0.000 0.037 2730 3696 1675 1645 1706 0 0 0 0 0 0 28.83 26.37 28.83

7612 1.53 241.4 2729 3696 1645 1706 118.0 9.0 412 7622 0.00 2.12 5.10 0.666 9222 0.000 0.027 2739 2301 1655 1615 1695 0 0 0 0 0 0 28.83 26.41 25.52

7939 1.56 251.8 2739 2301 1614 1695 88.0 8.9 429 7956 0.00 0.00 13.45 0.659 8198 0.000 0.000 2739 2301 1609 1561 1658 0 0 0 0 0 0 28.83 28.83 25.63

8259 1.58 262.5 2740 2301 1558 1652 59.5 8.9 445 8276 0.00 2.28 11.20 0.637 8708 0.000 0.044 2750 884 1566 1516 1616 0 0 0 0 0 0 28.83 26.25 25.62

8432 1.60 269.0 2750 884 1513 1612 44.1 9.0 456 8442 0.00 2.10 4.80 0.598 9222 0.000 0.018 2750 2297 1542 1491 1594 0 0 0 0 0 0 28.83 26.41 25.40

8743 1.62 275.7 2750 2297 1491 1594 15.6 9.0 497 8757 0.00 2.15 9.85 0.597 8452 0.000 0.036 2750 3690 1511 1458 1564 0 0 0 0 0 0 28.83 26.30 25.67

8774 1.62 275.7 2750 3690 1457 1562 12.7 9.3 503 8779 0.00 2.12 0.00 0.000 1030 0.000 0.028 2759 2299 1509 1457 1562 0 0 0 0 0 0 28.83 26.33 28.83

8883 end climb: SURFACE_DEPTH_REACHED

state 8883 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	167	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	53	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	-100704.62	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	220313,132234,2000.044,12005.208,119,1.0,119,-2.6	TGT_NAME	W2A
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-23.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220313,132912,2000.077,12005.244,15,1.6,16,-2.6	MHEAD_RNG_PITCHd_Wd	334.6,194527,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3680

FINISH	0.1,0.000000	_10V_AH	10.1,15.988
SM_CCo	9174,2.47,0.263,0,0,399,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.60,0.50,2.47,0.079,0.043,0.263,87,1953,399,-10.54,0.93,549.47,0,0,0,0,0,0,26.37,26.41,24.63	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1952.70,12004.32,220313,101019	MEM	323924
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20103,531
HUMID	48.70	CAP_FILE_SIZE	346864,2152
INTERNAL_PRESSURE	9.0776	CFSIZE	260034560,231858176
TCM_TEMP	18.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
XPDR_PINGS	1	CURRENT	0.231, 20.8,1
SC_FREEKB	3959040	GPS	220313,160704,2001.640,12005.380,229,1.0,229,-2.6
_24V_AH	24.2,28.649

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	214	90.20	nil	0	0	0.00
Roll_motor	68	53	89.22	nil	0	0	0.00
VBD_pump_during_apogee	442	1032	11069.20	nil	0	0	0.00
VBD_pump_during_surface	225	729	3978.91	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	8922	3	792.61
Iridium_during_xfer	221	132	707.81	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.26
TT8	1375	14	200.84
LPSleep	5501	2	121.68
TT8_Active	755	14	110.38
TT8_Sampling	1618	39	640.43
TT8_CF8	303	46	143.22
TT8_Kalman	0	0	0.00
Analog_circuits	1879	15	294.25
GPS_charging	0	0	0.00
Compass	1409	7	106.64
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	1941	342	488	0.0	0.0	0	44	0.00	0.00	-23.83	0.000	16386	0.000	0.000	86	1939	1034	1021	1048	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	87	1939	1021	1050	3.4	-9.1	3	153	7.88	2.28	-92.47	0.000	18692	0.214	0.044	2090	3383	3337	3245	3429	0	0	0	0	0	0	25.77	26.16	26.46
316	-1.35	-170.3	2089	3384	3248	3428	27.5	-9.0	44	324	0.00	2.12	0.00	0.000	1030	0.000	0.026	2098	1981	3338	3248	3429	0	0	0	0	0	0	28.83	26.30	28.83
624	-1.35	-170.3	2098	1981	3251	3428	55.9	-8.9	72	630	0.00	2.10	0.00	0.000	260	0.000	0.029	2089	3374	3339	3251	3428	0	0	0	0	0	0	28.83	26.44	28.83
776	-1.35	-170.3	2089	3374	3252	3429	69.6	-9.0	79	781	0.00	2.10	0.00	0.000	1030	0.000	0.024	2094	1966	3340	3252	3428	0	0	0	0	0	0	28.83	26.50	28.83
1096	-1.35	-170.3	2094	1965	3253	3429	98.2	-9.1	95	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2095	1966	3340	3253	3428	0	0	0	0	0	0	28.83	28.83	28.83
1397	-1.35	-170.3	2096	1965	3253	3429	125.5	-9.0	110	1398	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1966	3340	3253	3428	0	0	0	0	0	0	28.83	28.83	28.83
1696	-1.35	-170.3	2094	1965	3253	3428	152.8	-9.0	125	1702	0.00	2.10	0.00	0.000	516	0.000	0.041	2104	575	3340	3253	3428	0	0	0	0	0	0	28.83	26.58	28.83
1865	-1.35	-170.3	1280	575	3227	3424	168.4	-9.1	133	1871	0.00	2.03	0.00	0.000	1030	0.000	0.015	2095	1992	3340	3253	3427	0	0	0	0	0	0	28.83	26.68	28.83
2190	-1.35	-170.3	2095	1992	3253	3423	196.7	-8.4	149	2196	0.00	2.03	0.00	0.000	260	0.000	0.031	2085	3360	3338	3253	3423	0	0	0	0	0	0	28.83	26.63	28.83
2266	-1.35	-170.3	2085	3360	3253	3422	202.7	-9.0	152	2273	0.00	2.08	0.00	0.000	1030	0.000	0.024	2092	1967	3337	3253	3422	0	0	0	0	0	0	28.83	26.65	28.83
2582	-1.35	-170.3	2092	1967	3253	3420	232.1	-8.7	168	2588	0.00	2.12	0.00	0.000	516	0.000	0.044	2102	572	3336	3253	3419	0	0	0	0	0	0	28.83	26.61	28.83
2617	-1.35	-170.3	2102	572	3253	3419	234.4	-8.8	169	2623	0.00	2.03	0.00	0.000	1030	0.000	0.016	2094	1977	3336	3253	3419	0	0	0	0	0	0	28.83	26.70	28.83
2932	-1.35	-170.3	2093	1977	3252	3415	263.0	-8.7	185	2933	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1977	3334	3253	3415	0	0	0	0	0	0	28.83	28.83	28.83
3233	-1.35	-170.3	2093	1978	3252	3413	290.1	-9.1	200	3238	0.00	2.05	0.00	0.000	260	0.000	0.033	2084	3357	3332	3252	3412	0	0	0	0	0	0	28.83	26.65	28.83
3283	-1.35	-170.3	2084	3357	3251	3411	294.3	-8.8	202	3289	0.00	2.08	0.00	0.000	1030	0.000	0.027	2087	1972	3331	3252	3411	0	0	0	0	0	0	28.83	26.65	28.83
3604	-1.35	-170.3	2086	1973	3250	3409	323.9	-8.8	218	3605	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1973	3329	3250	3409	0	0	0	0	0	0	28.83	28.83	28.83
3905	-1.35	-170.3	2086	1972	3248	3407	350.7	-9.0	233	3911	0.00	2.15	0.00	0.000	516	0.000	0.054	2096	575	3327	3248	3406	0	0	0	0	0	0	28.83	26.62	28.83
3988	-1.35	-170.3	2096	575	3248	3406	357.2	-9.4	236	3997	0.00	2.03	0.00	0.000	1030	0.000	0.017	2087	1972	3327	3248	3406	0	0	0	0	0	0	28.83	26.71	28.83
4293	-1.35	-170.3	2086	1978	3245	3404	386.4	-8.8	252	4300	0.00	2.08	0.00	0.000	260	0.000	0.034	2077	3360	3324	3245	3403	0	0	0	0	0	0	28.83	26.64	28.83
4334	-1.35	-170.3	2076	3360	3245	3403	388.6	-8.8	253	4343	0.10	2.10	0.00	0.000	3078	0.164	0.029	2103	1968	3324	3245	3403	0	0	0	0	0	0	26.48	26.65	28.83
4461	end dive: TARGET_DEPTH_EXCEEDED
state	4461	begin apogee
4466	-0.25	0.0	2102	2313	3244	3402	401.3	-8.9	260	4630	0.73	0.00	153.82	1.033	10246	0.114	0.000	2342	2314	2639	2589	2690	0	0	0	0	1	0	26.46	28.83	24.20
4633	end apogee: CONTROL_FINISHED_OK
state	4633	begin climb
4635	1.35	170.3	2342	2314	2589	2690	386.6	0.0	267	4825	1.00	2.20	177.73	0.833	10500	0.055	0.034	2701	3686	1935	1899	1972	0	0	0	0	0	0	25.12	24.94	24.35
4928	1.37	177.9	2701	3686	1896	1954	359.8	9.0	280	4934	0.00	2.17	1.75	0.047	9222	0.000	0.024	2711	2297	1912	1883	1941	0	0	0	0	0	0	28.83	25.62	25.59
5248	1.40	187.7	2710	2297	1883	1944	330.6	8.9	296	5272	0.00	2.20	14.77	0.829	8452	0.000	0.031	2711	3690	1864	1834	1894	0	0	0	0	0	0	28.83	25.93	25.19
5465	1.41	194.1	2710	3690	1830	1886	311.7	9.0	306	5473	0.00	2.12	1.50	0.052	9222	0.000	0.024	2720	2297	1845	1816	1874	0	0	0	0	0	0	28.83	26.20	26.14
5774	1.41	194.1	2720	2297	1816	1879	282.7	9.5	322	5775	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2297	1847	1816	1879	0	0	0	0	0	0	28.83	28.83	28.83
6075	1.43	199.8	2720	2297	1816	1880	255.9	9.1	337	6089	0.00	2.15	9.75	0.779	8452	0.000	0.031	2720	3687	1820	1789	1851	0	0	0	0	0	0	28.83	26.29	25.55
6120	1.45	207.3	2720	3687	1787	1849	252.6	9.0	338	6134	0.00	2.12	7.88	0.781	9222	0.000	0.024	2730	2293	1791	1759	1823	0	0	0	0	0	0	28.83	26.34	25.46
6452	1.45	209.7	2730	2293	1757	1817	222.2	9.2	355	6453	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2293	1787	1757	1817	0	0	0	0	0	0	28.83	28.83	28.83
6750	1.47	216.3	2730	2293	1757	1816	195.2	9.0	370	6765	0.00	2.15	9.85	0.747	8452	0.000	0.032	2730	3683	1753	1721	1786	0	0	0	0	0	0	28.83	26.32	25.60
6851	1.48	221.1	2730	3683	1719	1780	186.5	9.1	374	6859	0.00	2.10	3.72	0.589	9222	0.000	0.025	2740	2300	1737	1707	1767	0	0	0	0	0	0	28.83	26.38	25.33
7166	1.49	224.3	2740	2300	1706	1768	157.7	9.1	390	7175	0.00	2.20	4.03	0.614	8708	0.000	0.044	2751	896	1724	1693	1755	0	0	0	0	0	0	28.83	26.36	25.39
7221	1.51	234.5	2750	897	1693	1756	152.8	8.9	393	7240	0.10	2.08	13.70	0.711	13318	0.194	0.018	2730	2303	1683	1650	1716	0	0	0	0	0	0	26.22	26.46	25.53
7542	1.51	234.5	2730	2303	1645	1706	123.4	9.6	409	7548	0.00	2.12	0.00	0.000	260	0.000	0.037	2730	3696	1675	1645	1706	0	0	0	0	0	0	28.83	26.37	28.83
7612	1.53	241.4	2729	3696	1645	1706	118.0	9.0	412	7622	0.00	2.12	5.10	0.666	9222	0.000	0.027	2739	2301	1655	1615	1695	0	0	0	0	0	0	28.83	26.41	25.52
7939	1.56	251.8	2739	2301	1614	1695	88.0	8.9	429	7956	0.00	0.00	13.45	0.659	8198	0.000	0.000	2739	2301	1609	1561	1658	0	0	0	0	0	0	28.83	28.83	25.63
8259	1.58	262.5	2740	2301	1558	1652	59.5	8.9	445	8276	0.00	2.28	11.20	0.637	8708	0.000	0.044	2750	884	1566	1516	1616	0	0	0	0	0	0	28.83	26.25	25.62
8432	1.60	269.0	2750	884	1513	1612	44.1	9.0	456	8442	0.00	2.10	4.80	0.598	9222	0.000	0.018	2750	2297	1542	1491	1594	0	0	0	0	0	0	28.83	26.41	25.40
8743	1.62	275.7	2750	2297	1491	1594	15.6	9.0	497	8757	0.00	2.15	9.85	0.597	8452	0.000	0.036	2750	3690	1511	1458	1564	0	0	0	0	0	0	28.83	26.30	25.67
8774	1.62	275.7	2750	3690	1457	1562	12.7	9.3	503	8779	0.00	2.12	0.00	0.000	1030	0.000	0.028	2759	2299	1509	1457	1562	0	0	0	0	0	0	28.83	26.33	28.83
8883	end climb: SURFACE_DEPTH_REACHED
state	8883	begin surface coast
8913	end surface coast: CONTROL_FINISHED_OK
state	8913	begin surface