Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 169 * 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 169 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 48 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 52 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 -100707.12 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 -100707.12

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 48 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 52 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 169 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 220313,184918,2003.088,12005.709,118,1.0,118,-2.7 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 -63.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220313,185629,2003.121,12005.681,20,0.8,21,-2.7 MHEAD_RNG_PITCHd_Wd 325.0,188932,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3617

Post-dive calculations and measurements:

FINISH 0.0,1.024271 _10V_AH 10.2,16.119

SM_CCo 9157,0.05,0.194,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.60,0.52,0.05,0.071,0.035,0.194,87,1961,401,-10.55,1.16,549.47,0,0,0,0,0,0,26.20,26.23,25.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1952.70,12001.19,220313,161647 MEM 323872

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16800,525

HUMID 47.59 CAP_FILE_SIZE 384201,1933

INTERNAL_PRESSURE 9.15573 CFSIZE 260034560,231608320

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

XPDR_PINGS 0 CURRENT 0.114, 30.3,1

SC_FREEKB 3958272 GPS 220313,213105,2004.358,12005.410,52,0.9,52,-2.7

_24V_AH 24.4,28.970

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 94.54 nil 0 0 0.00

Roll_motor 72 45 79.87 nil 0 0 0.00

VBD_pump_during_apogee 570 781 10867.34 nil 0 0 0.00

VBD_pump_during_surface 179 669 2937.85 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 8948 5 1206.93

Iridium_during_xfer 248 130 794.06 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.70

TT8 1936 14 285.62

LPSleep 4895 2 109.35

TT8_Active 848 14 125.16

TT8_Sampling 1560 39 623.65

TT8_CF8 326 46 155.55

TT8_Kalman 0 0 0.00

Analog_circuits 1970 15 311.53

GPS_charging 0 0 0.00

Compass 1325 7 101.25

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 83 1952 332 478 0.0 0.0 0 44 0.00 0.00 -23.67 0.000 16386 0.000 0.000 82 1953 1016 1005 1028 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 82 1953 1005 1031 3.2 -9.1 3 162 8.10 2.20 -95.53 0.000 18692 0.221 0.042 2093 3379 3336 3243 3430 0 0 0 0 0 0 25.78 26.14 26.44

336 -1.35 -170.3 2093 3379 3247 3430 29.1 -9.0 46 342 0.00 2.12 0.00 0.000 1030 0.000 0.026 2101 1979 3338 3247 3430 0 0 0 0 0 0 28.83 26.30 28.83

652 -1.35 -170.3 2101 1979 3250 3430 57.8 -9.4 73 658 0.00 2.12 0.00 0.000 260 0.000 0.029 2093 3382 3340 3250 3430 0 0 0 0 0 0 28.83 26.43 28.83

721 -1.35 -170.3 2092 3382 3252 3430 64.0 -9.2 76 727 0.00 2.12 0.00 0.000 1030 0.000 0.025 2100 1966 3340 3251 3430 0 0 0 0 0 0 28.83 26.46 28.83

1046 -1.35 -170.3 2100 1965 3253 3430 93.3 -9.1 92 1052 0.00 2.12 0.00 0.000 516 0.000 0.041 2110 566 3341 3253 3430 0 0 0 0 0 0 28.83 26.51 28.83

1107 -1.35 -170.3 2110 566 3253 3430 97.5 -8.9 94 1115 0.00 2.08 0.00 0.000 1030 0.000 0.016 2102 1995 3341 3253 3430 0 0 0 0 0 0 28.83 26.59 28.83

1413 -1.35 -170.3 2102 1995 3253 3430 126.3 -9.3 110 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 1995 3341 3253 3430 0 0 0 0 0 0 28.83 28.83 28.83

1715 -1.35 -170.3 2102 1996 3253 3428 153.2 -8.9 125 1721 0.00 2.03 0.00 0.000 260 0.000 0.032 2092 3361 3340 3253 3427 0 0 0 0 0 0 28.83 26.60 28.83

1748 -1.35 -170.3 2091 3361 3253 3427 155.5 -9.0 126 1755 0.00 2.08 0.00 0.000 1030 0.000 0.026 2093 1975 3340 3253 3427 0 0 0 0 0 0 28.83 26.60 28.83

2065 -1.35 -170.3 2092 1975 3252 3426 184.6 -9.1 142 2066 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1975 3339 3253 3426 0 0 0 0 0 0 28.83 28.83 28.83

2365 -1.35 -170.3 2092 1975 3253 3423 211.7 -9.1 157 2371 0.00 2.15 0.00 0.000 516 0.000 0.044 2103 570 3337 3253 3422 0 0 0 0 0 0 28.83 26.60 28.83

2421 -1.35 -170.3 2102 570 3253 3422 216.1 -9.2 159 2427 0.00 2.03 0.00 0.000 1030 0.000 0.017 2094 1973 3337 3253 3422 0 0 0 0 0 0 28.83 26.69 28.83

2735 -1.35 -170.3 2094 1973 3253 3419 245.5 -9.3 175 2741 0.00 2.08 0.00 0.000 260 0.000 0.033 2084 3367 3335 3253 3418 0 0 0 0 0 0 28.83 26.63 28.83

2771 -1.35 -170.3 2083 3367 3253 3418 247.7 -9.2 176 2777 0.00 2.10 0.00 0.000 1030 0.000 0.028 2085 1972 3335 3253 3418 0 0 0 0 0 0 28.83 26.64 28.83

3086 -1.35 -170.3 2084 1972 3252 3415 276.4 -8.5 192 3092 0.10 2.15 0.00 0.000 2564 0.171 0.044 2119 571 3333 3252 3415 0 0 0 0 0 0 26.55 26.61 28.83

3137 -1.35 -170.3 2119 571 3252 3415 280.7 -8.6 194 3143 0.00 2.05 0.00 0.000 1030 0.000 0.017 2111 1974 3333 3252 3415 0 0 0 0 0 0 28.83 26.70 28.83

3457 -1.35 -170.3 2111 1975 3252 3411 309.7 -8.9 210 3458 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 1975 3331 3252 3410 0 0 0 0 0 0 28.83 28.83 28.83

3758 -1.35 -170.3 2111 1975 3250 3408 336.5 -8.9 225 3759 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 1975 3329 3249 3410 0 0 0 0 0 0 28.83 28.83 28.83

4057 -1.35 -170.3 2111 1975 3248 3406 363.5 -9.3 240 4063 0.00 2.17 0.00 0.000 516 0.000 0.045 2119 575 3327 3248 3406 0 0 0 0 0 0 28.83 26.61 28.83

4114 -1.35 -170.3 2119 575 3248 3406 367.9 -9.0 242 4120 0.00 2.05 0.00 0.000 1030 0.000 0.017 2111 1984 3327 3249 3406 0 0 0 0 0 0 28.83 26.70 28.83

4429 -1.35 -170.3 2110 1984 3245 3404 396.4 -8.9 258 4434 0.00 2.08 0.00 0.000 260 0.000 0.034 2101 3368 3325 3246 3404 0 0 0 0 0 0 28.83 26.63 28.83

4472 end dive: TARGET_DEPTH_EXCEEDED

state 4472 begin apogee

4478 -0.25 0.0 2103 2293 3245 3403 400.5 -8.9 260 4712 0.73 0.00 224.88 0.721 10246 0.113 0.000 2344 2293 2634 2584 2684 0 0 0 0 0 0 26.46 28.83 24.58

4714 end apogee: CONTROL_FINISHED_OK

state 4714 begin climb

4716 1.35 170.3 2344 2293 2580 2680 380.1 0.0 270 4901 1.00 2.20 175.05 0.781 10500 0.056 0.032 2704 3682 1938 1903 1973 0 0 0 0 0 0 25.25 24.97 24.38

5029 1.38 180.4 2704 3681 1898 1955 351.3 8.9 284 5040 0.00 2.17 3.42 0.493 9222 0.000 0.024 2714 2295 1901 1872 1931 0 0 0 0 0 0 28.83 25.70 24.76

5354 1.41 192.5 2714 2295 1873 1940 321.3 8.8 300 5379 0.00 0.00 17.92 0.662 8198 0.000 0.000 2714 2294 1853 1823 1883 0 0 0 0 1 0 28.83 28.83 25.37

5674 1.44 203.8 2714 2295 1822 1883 292.2 8.8 316 5697 0.00 2.22 15.52 0.779 8708 0.000 0.044 2725 889 1798 1771 1826 0 0 0 0 0 0 28.83 26.00 25.32

5747 1.45 209.7 2725 889 1768 1823 286.1 9.0 319 5754 0.00 2.10 1.42 0.057 9222 0.000 0.017 2725 2295 1784 1755 1813 0 0 0 0 0 0 28.83 26.15 26.03

6068 1.46 214.4 2724 2295 1754 1818 256.3 9.1 335 6080 0.00 2.12 5.22 0.702 8452 0.000 0.034 2725 3688 1766 1736 1796 0 0 0 0 0 0 28.83 26.26 25.41

6104 1.48 222.9 2725 3688 1736 1796 254.1 8.9 336 6128 0.00 2.12 13.77 0.747 9222 0.000 0.026 2735 2297 1723 1693 1754 0 0 0 0 0 0 28.83 26.29 25.40

6442 1.50 229.8 2734 2297 1693 1751 223.1 9.0 353 6449 0.00 0.00 4.95 0.693 8198 0.000 0.000 2735 2297 1702 1672 1733 0 0 0 0 0 0 28.83 28.83 25.29

6742 1.52 237.7 2734 2297 1672 1733 196.3 9.0 368 6761 0.00 0.00 11.62 0.709 8198 0.000 0.000 2735 2297 1662 1624 1700 0 0 0 0 0 0 28.83 28.83 25.56

7061 1.53 240.4 2735 2297 1619 1700 167.6 9.2 384 7067 0.00 2.20 0.00 0.000 516 0.000 0.044 2745 886 1659 1619 1700 0 0 0 0 0 0 28.83 26.35 28.83

7119 1.54 246.5 2745 887 1618 1700 163.3 9.0 386 7134 0.00 2.10 7.93 0.688 9222 0.000 0.018 2746 2302 1632 1586 1678 0 0 0 0 0 0 28.83 26.46 25.58

7430 1.57 258.7 2745 2302 1582 1673 134.8 8.8 402 7453 0.00 2.20 13.65 0.649 8452 0.000 0.037 2745 3694 1578 1527 1629 0 0 0 0 0 0 28.83 26.24 25.60

7583 1.59 265.4 2745 3694 1526 1627 121.1 9.0 409 7595 0.00 2.12 4.60 0.597 9222 0.000 0.028 2755 2301 1557 1504 1610 0 0 0 0 0 0 28.83 26.34 25.36

7903 1.61 271.9 2755 2301 1504 1610 91.4 9.0 425 7920 0.00 2.17 9.75 0.614 8452 0.000 0.035 2755 3696 1526 1472 1581 0 0 0 0 0 0 28.83 26.28 25.63

7937 1.63 279.2 1792 3696 1445 1574 89.3 9.0 426 7951 0.00 2.15 7.88 0.610 9222 0.000 0.028 2765 2295 1499 1446 1553 0 0 0 0 0 0 28.83 26.31 25.58

8249 1.65 289.8 2764 2295 1444 1545 60.3 8.9 442 8266 0.00 2.28 11.48 0.575 8708 0.000 0.044 2776 890 1453 1403 1503 0 0 0 0 0 0 28.83 26.22 25.62

8289 1.68 299.2 2775 890 1402 1500 58.1 8.9 443 8307 0.00 2.10 9.88 0.570 9222 0.000 0.018 2776 2303 1414 1368 1460 0 0 0 0 0 0 28.83 26.31 25.56

8610 1.69 305.7 2775 2303 1367 1454 28.0 9.0 471 8624 0.00 2.25 4.65 0.522 8708 0.000 0.043 2786 891 1392 1352 1433 0 0 0 0 0 0 28.83 26.28 25.44

8871 1.77 336.5 1792 891 1330 1431 5.0 8.1 515 8904 0.00 2.08 26.62 0.496 9218 0.000 0.018 2785 2301 1294 1269 1320 0 0 0 0 0 0 28.83 26.46 28.83

8905 end climb: SURFACE_DEPTH_REACHED

state 8905 begin surface coast

8939 end surface coast: CONTROL_FINISHED_OK

state 8939 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	169	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	48	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	52	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	-100707.12	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	220313,184918,2003.088,12005.709,118,1.0,118,-2.7	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	-63.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220313,185629,2003.121,12005.681,20,0.8,21,-2.7	MHEAD_RNG_PITCHd_Wd	325.0,188932,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3617

FINISH	0.0,1.024271	_10V_AH	10.2,16.119
SM_CCo	9157,0.05,0.194,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.60,0.52,0.05,0.071,0.035,0.194,87,1961,401,-10.55,1.16,549.47,0,0,0,0,0,0,26.20,26.23,25.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1952.70,12001.19,220313,161647	MEM	323872
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16800,525
HUMID	47.59	CAP_FILE_SIZE	384201,1933
INTERNAL_PRESSURE	9.15573	CFSIZE	260034560,231608320
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
XPDR_PINGS	0	CURRENT	0.114, 30.3,1
SC_FREEKB	3958272	GPS	220313,213105,2004.358,12005.410,52,0.9,52,-2.7
_24V_AH	24.4,28.970

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	94.54	nil	0	0	0.00
Roll_motor	72	45	79.87	nil	0	0	0.00
VBD_pump_during_apogee	570	781	10867.34	nil	0	0	0.00
VBD_pump_during_surface	179	669	2937.85	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	8948	5	1206.93
Iridium_during_xfer	248	130	794.06	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.70
TT8	1936	14	285.62
LPSleep	4895	2	109.35
TT8_Active	848	14	125.16
TT8_Sampling	1560	39	623.65
TT8_CF8	326	46	155.55
TT8_Kalman	0	0	0.00
Analog_circuits	1970	15	311.53
GPS_charging	0	0	0.00
Compass	1325	7	101.25
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	83	1952	332	478	0.0	0.0	0	44	0.00	0.00	-23.67	0.000	16386	0.000	0.000	82	1953	1016	1005	1028	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	82	1953	1005	1031	3.2	-9.1	3	162	8.10	2.20	-95.53	0.000	18692	0.221	0.042	2093	3379	3336	3243	3430	0	0	0	0	0	0	25.78	26.14	26.44
336	-1.35	-170.3	2093	3379	3247	3430	29.1	-9.0	46	342	0.00	2.12	0.00	0.000	1030	0.000	0.026	2101	1979	3338	3247	3430	0	0	0	0	0	0	28.83	26.30	28.83
652	-1.35	-170.3	2101	1979	3250	3430	57.8	-9.4	73	658	0.00	2.12	0.00	0.000	260	0.000	0.029	2093	3382	3340	3250	3430	0	0	0	0	0	0	28.83	26.43	28.83
721	-1.35	-170.3	2092	3382	3252	3430	64.0	-9.2	76	727	0.00	2.12	0.00	0.000	1030	0.000	0.025	2100	1966	3340	3251	3430	0	0	0	0	0	0	28.83	26.46	28.83
1046	-1.35	-170.3	2100	1965	3253	3430	93.3	-9.1	92	1052	0.00	2.12	0.00	0.000	516	0.000	0.041	2110	566	3341	3253	3430	0	0	0	0	0	0	28.83	26.51	28.83
1107	-1.35	-170.3	2110	566	3253	3430	97.5	-8.9	94	1115	0.00	2.08	0.00	0.000	1030	0.000	0.016	2102	1995	3341	3253	3430	0	0	0	0	0	0	28.83	26.59	28.83
1413	-1.35	-170.3	2102	1995	3253	3430	126.3	-9.3	110	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	1995	3341	3253	3430	0	0	0	0	0	0	28.83	28.83	28.83
1715	-1.35	-170.3	2102	1996	3253	3428	153.2	-8.9	125	1721	0.00	2.03	0.00	0.000	260	0.000	0.032	2092	3361	3340	3253	3427	0	0	0	0	0	0	28.83	26.60	28.83
1748	-1.35	-170.3	2091	3361	3253	3427	155.5	-9.0	126	1755	0.00	2.08	0.00	0.000	1030	0.000	0.026	2093	1975	3340	3253	3427	0	0	0	0	0	0	28.83	26.60	28.83
2065	-1.35	-170.3	2092	1975	3252	3426	184.6	-9.1	142	2066	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1975	3339	3253	3426	0	0	0	0	0	0	28.83	28.83	28.83
2365	-1.35	-170.3	2092	1975	3253	3423	211.7	-9.1	157	2371	0.00	2.15	0.00	0.000	516	0.000	0.044	2103	570	3337	3253	3422	0	0	0	0	0	0	28.83	26.60	28.83
2421	-1.35	-170.3	2102	570	3253	3422	216.1	-9.2	159	2427	0.00	2.03	0.00	0.000	1030	0.000	0.017	2094	1973	3337	3253	3422	0	0	0	0	0	0	28.83	26.69	28.83
2735	-1.35	-170.3	2094	1973	3253	3419	245.5	-9.3	175	2741	0.00	2.08	0.00	0.000	260	0.000	0.033	2084	3367	3335	3253	3418	0	0	0	0	0	0	28.83	26.63	28.83
2771	-1.35	-170.3	2083	3367	3253	3418	247.7	-9.2	176	2777	0.00	2.10	0.00	0.000	1030	0.000	0.028	2085	1972	3335	3253	3418	0	0	0	0	0	0	28.83	26.64	28.83
3086	-1.35	-170.3	2084	1972	3252	3415	276.4	-8.5	192	3092	0.10	2.15	0.00	0.000	2564	0.171	0.044	2119	571	3333	3252	3415	0	0	0	0	0	0	26.55	26.61	28.83
3137	-1.35	-170.3	2119	571	3252	3415	280.7	-8.6	194	3143	0.00	2.05	0.00	0.000	1030	0.000	0.017	2111	1974	3333	3252	3415	0	0	0	0	0	0	28.83	26.70	28.83
3457	-1.35	-170.3	2111	1975	3252	3411	309.7	-8.9	210	3458	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	1975	3331	3252	3410	0	0	0	0	0	0	28.83	28.83	28.83
3758	-1.35	-170.3	2111	1975	3250	3408	336.5	-8.9	225	3759	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	1975	3329	3249	3410	0	0	0	0	0	0	28.83	28.83	28.83
4057	-1.35	-170.3	2111	1975	3248	3406	363.5	-9.3	240	4063	0.00	2.17	0.00	0.000	516	0.000	0.045	2119	575	3327	3248	3406	0	0	0	0	0	0	28.83	26.61	28.83
4114	-1.35	-170.3	2119	575	3248	3406	367.9	-9.0	242	4120	0.00	2.05	0.00	0.000	1030	0.000	0.017	2111	1984	3327	3249	3406	0	0	0	0	0	0	28.83	26.70	28.83
4429	-1.35	-170.3	2110	1984	3245	3404	396.4	-8.9	258	4434	0.00	2.08	0.00	0.000	260	0.000	0.034	2101	3368	3325	3246	3404	0	0	0	0	0	0	28.83	26.63	28.83
4472	end dive: TARGET_DEPTH_EXCEEDED
state	4472	begin apogee
4478	-0.25	0.0	2103	2293	3245	3403	400.5	-8.9	260	4712	0.73	0.00	224.88	0.721	10246	0.113	0.000	2344	2293	2634	2584	2684	0	0	0	0	0	0	26.46	28.83	24.58
4714	end apogee: CONTROL_FINISHED_OK
state	4714	begin climb
4716	1.35	170.3	2344	2293	2580	2680	380.1	0.0	270	4901	1.00	2.20	175.05	0.781	10500	0.056	0.032	2704	3682	1938	1903	1973	0	0	0	0	0	0	25.25	24.97	24.38
5029	1.38	180.4	2704	3681	1898	1955	351.3	8.9	284	5040	0.00	2.17	3.42	0.493	9222	0.000	0.024	2714	2295	1901	1872	1931	0	0	0	0	0	0	28.83	25.70	24.76
5354	1.41	192.5	2714	2295	1873	1940	321.3	8.8	300	5379	0.00	0.00	17.92	0.662	8198	0.000	0.000	2714	2294	1853	1823	1883	0	0	0	0	1	0	28.83	28.83	25.37
5674	1.44	203.8	2714	2295	1822	1883	292.2	8.8	316	5697	0.00	2.22	15.52	0.779	8708	0.000	0.044	2725	889	1798	1771	1826	0	0	0	0	0	0	28.83	26.00	25.32
5747	1.45	209.7	2725	889	1768	1823	286.1	9.0	319	5754	0.00	2.10	1.42	0.057	9222	0.000	0.017	2725	2295	1784	1755	1813	0	0	0	0	0	0	28.83	26.15	26.03
6068	1.46	214.4	2724	2295	1754	1818	256.3	9.1	335	6080	0.00	2.12	5.22	0.702	8452	0.000	0.034	2725	3688	1766	1736	1796	0	0	0	0	0	0	28.83	26.26	25.41
6104	1.48	222.9	2725	3688	1736	1796	254.1	8.9	336	6128	0.00	2.12	13.77	0.747	9222	0.000	0.026	2735	2297	1723	1693	1754	0	0	0	0	0	0	28.83	26.29	25.40
6442	1.50	229.8	2734	2297	1693	1751	223.1	9.0	353	6449	0.00	0.00	4.95	0.693	8198	0.000	0.000	2735	2297	1702	1672	1733	0	0	0	0	0	0	28.83	28.83	25.29
6742	1.52	237.7	2734	2297	1672	1733	196.3	9.0	368	6761	0.00	0.00	11.62	0.709	8198	0.000	0.000	2735	2297	1662	1624	1700	0	0	0	0	0	0	28.83	28.83	25.56
7061	1.53	240.4	2735	2297	1619	1700	167.6	9.2	384	7067	0.00	2.20	0.00	0.000	516	0.000	0.044	2745	886	1659	1619	1700	0	0	0	0	0	0	28.83	26.35	28.83
7119	1.54	246.5	2745	887	1618	1700	163.3	9.0	386	7134	0.00	2.10	7.93	0.688	9222	0.000	0.018	2746	2302	1632	1586	1678	0	0	0	0	0	0	28.83	26.46	25.58
7430	1.57	258.7	2745	2302	1582	1673	134.8	8.8	402	7453	0.00	2.20	13.65	0.649	8452	0.000	0.037	2745	3694	1578	1527	1629	0	0	0	0	0	0	28.83	26.24	25.60
7583	1.59	265.4	2745	3694	1526	1627	121.1	9.0	409	7595	0.00	2.12	4.60	0.597	9222	0.000	0.028	2755	2301	1557	1504	1610	0	0	0	0	0	0	28.83	26.34	25.36
7903	1.61	271.9	2755	2301	1504	1610	91.4	9.0	425	7920	0.00	2.17	9.75	0.614	8452	0.000	0.035	2755	3696	1526	1472	1581	0	0	0	0	0	0	28.83	26.28	25.63
7937	1.63	279.2	1792	3696	1445	1574	89.3	9.0	426	7951	0.00	2.15	7.88	0.610	9222	0.000	0.028	2765	2295	1499	1446	1553	0	0	0	0	0	0	28.83	26.31	25.58
8249	1.65	289.8	2764	2295	1444	1545	60.3	8.9	442	8266	0.00	2.28	11.48	0.575	8708	0.000	0.044	2776	890	1453	1403	1503	0	0	0	0	0	0	28.83	26.22	25.62
8289	1.68	299.2	2775	890	1402	1500	58.1	8.9	443	8307	0.00	2.10	9.88	0.570	9222	0.000	0.018	2776	2303	1414	1368	1460	0	0	0	0	0	0	28.83	26.31	25.56
8610	1.69	305.7	2775	2303	1367	1454	28.0	9.0	471	8624	0.00	2.25	4.65	0.522	8708	0.000	0.043	2786	891	1392	1352	1433	0	0	0	0	0	0	28.83	26.28	25.44
8871	1.77	336.5	1792	891	1330	1431	5.0	8.1	515	8904	0.00	2.08	26.62	0.496	9218	0.000	0.018	2785	2301	1294	1269	1320	0	0	0	0	0	0	28.83	26.46	28.83
8905	end climb: SURFACE_DEPTH_REACHED
state	8905	begin surface coast
8939	end surface coast: CONTROL_FINISHED_OK
state	8939	begin surface