Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 172 * 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 172 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 50 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 55 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 -100710.98 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 -100710.98

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 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 55 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 172 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 230313,025604,2006.812,12005.448,30,0.9,30,-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 -65.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230313,030241,2006.825,12005.462,13,1.7,14,-2.7 MHEAD_RNG_PITCHd_Wd 341.0,182062,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3576

Post-dive calculations and measurements:

FINISH 0.0,1.024295 _10V_AH 10.2,16.309

SM_CCo 9136,0.45,0.106,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.38,1.62,0.45,0.068,0.015,0.106,87,1989,400,-10.55,-1.87,549.47,0,0,0,0,0,0,26.51,26.61,25.19 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1957.29,12005.47,230313,000017 MEM 323904

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16767,520

HUMID 46.77 CAP_FILE_SIZE 404628,2166

INTERNAL_PRESSURE 9.18503 CFSIZE 260034560,231247872

TCM_TEMP 20.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0

XPDR_PINGS 0 CURRENT 0.028,128.4,1

SC_FREEKB 3957120 GPS 230313,053634,2007.499,12005.147,30,1.3,30,-2.7

_24V_AH 24.2,29.429

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 215 89.80 nil 0 0 0.00

Roll_motor 68 44 73.23 nil 0 0 0.00

VBD_pump_during_apogee 415 1038 10438.88 nil 0 0 0.00

VBD_pump_during_surface 223 677 3661.86 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 8890 5 1191.43

Iridium_during_xfer 219 136 724.06 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 29 4.69

TT8 2091 14 308.41

LPSleep 4713 2 105.29

TT8_Active 754 14 111.34

TT8_Sampling 1606 39 641.92

TT8_CF8 345 46 164.58

TT8_Kalman 0 0 0.00

Analog_circuits 1848 15 292.32

GPS_charging 0 0 0.00

Compass 1393 7 106.44

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 84 1948 333 475 0.0 0.0 0 44 0.00 0.00 -23.83 0.000 16386 0.000 0.000 83 1948 1026 1007 1046 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 83 1948 1009 1046 3.0 -8.1 3 154 7.93 2.25 -92.97 0.000 18692 0.216 0.044 2093 3374 3337 3249 3426 0 0 0 0 0 0 25.79 26.15 26.44

305 -1.35 -170.3 2093 3374 3252 3426 26.7 -9.1 43 314 0.00 2.12 0.00 0.000 1030 0.000 0.026 2101 1979 3339 3252 3426 0 0 0 0 0 0 28.83 26.29 28.83

623 -1.35 -170.3 2101 1979 3254 3426 55.5 -8.8 72 629 0.00 2.15 0.00 0.000 516 0.000 0.040 2112 566 3339 3253 3426 0 0 0 0 0 0 28.83 26.41 28.83

818 -1.35 -170.3 2110 566 3256 3426 72.7 -9.1 81 825 0.00 2.05 0.00 0.000 1030 0.000 0.015 2103 1992 3341 3256 3426 0 0 0 0 0 0 28.83 26.55 28.83

1139 -1.35 -170.3 2103 1993 3258 3426 101.8 -9.0 97 1140 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 1994 3342 3258 3426 0 0 0 0 0 0 28.83 28.83 28.83

1441 -1.35 -170.3 2103 1993 3258 3426 128.8 -9.7 112 1447 0.00 2.03 0.00 0.000 260 0.000 0.031 2093 3362 3342 3259 3426 0 0 0 0 0 0 28.83 26.60 28.83

1519 -1.35 -170.3 2093 3361 3258 3426 135.1 -9.0 115 1526 0.00 2.08 0.00 0.000 1030 0.000 0.025 2100 1971 3342 3258 3426 0 0 0 0 0 0 28.83 26.61 28.83

1834 -1.35 -170.3 2100 1971 3258 3425 164.2 -9.1 131 1841 0.00 2.12 0.00 0.000 516 0.000 0.041 2110 570 3341 3258 3425 0 0 0 0 0 0 28.83 26.60 28.83

1902 -1.35 -170.3 2109 570 3258 3425 170.5 -9.2 134 1908 0.00 2.03 0.00 0.000 1030 0.000 0.015 2101 1977 3341 3258 3425 0 0 0 0 0 0 28.83 26.68 28.83

2227 -1.35 -170.3 2101 1977 3258 3422 200.0 -8.9 150 2233 0.00 2.05 0.00 0.000 260 0.000 0.032 2091 3362 3339 3257 3422 0 0 0 0 0 0 28.83 26.63 28.83

2329 -1.35 -170.3 2091 3362 3258 3421 207.9 -9.1 154 2337 0.00 2.08 0.00 0.000 1030 0.000 0.027 2092 1972 3339 3258 3421 0 0 0 0 0 0 28.83 26.65 28.83

2635 -1.35 -170.3 2092 1972 3257 3418 237.1 -8.9 170 2641 0.00 2.12 0.00 0.000 516 0.000 0.044 2102 576 3337 3257 3418 0 0 0 0 0 0 28.83 26.62 28.83

2725 -1.35 -170.3 2101 577 3257 3418 244.8 -8.9 174 2731 0.00 2.00 0.00 0.000 1030 0.000 0.016 2093 1970 3336 3256 3417 0 0 0 0 0 0 28.83 26.70 28.83

3045 -1.35 -170.3 2093 1971 3254 3415 273.1 -8.5 190 3046 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1971 3334 3254 3415 0 0 0 0 0 0 28.83 28.83 28.83

3347 -1.35 -170.3 2093 1971 3253 3412 300.2 -8.9 205 3354 0.00 2.17 0.00 0.000 516 0.000 0.043 2102 571 3332 3253 3412 0 0 0 0 0 0 28.83 26.63 28.83

3383 -1.35 -170.3 2102 571 3253 3411 302.7 -9.1 206 3389 0.00 2.03 0.00 0.000 1030 0.000 0.017 2093 1974 3332 3253 3411 0 0 0 0 0 0 28.83 26.71 28.83

3697 -1.35 -170.3 2093 1974 3250 3409 332.1 -9.3 222 3698 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1974 3329 3250 3409 0 0 0 0 0 0 28.83 28.83 28.83

4000 -1.35 -170.3 2093 1974 3247 3407 359.3 -9.0 237 4001 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1974 3327 3248 3407 0 0 0 0 0 0 28.83 28.83 28.83

4299 -1.35 -170.3 2093 1975 3245 3405 386.2 -9.3 252 4305 0.00 2.17 0.00 0.000 516 0.000 0.044 2101 577 3325 3247 3404 0 0 0 0 0 0 28.83 26.62 28.83

4450 end dive: TARGET_DEPTH_EXCEEDED

state 4450 begin apogee

4457 -0.25 0.0 2090 2295 3243 3404 400.1 -9.2 259 4623 0.77 0.00 152.55 1.038 10246 0.116 0.000 2346 2297 2639 2589 2689 0 0 0 0 1 0 26.47 28.83 24.24

4626 end apogee: CONTROL_FINISHED_OK

state 4626 begin climb

4628 1.35 170.3 2345 2296 2589 2689 385.5 0.0 266 4799 1.00 2.30 158.70 0.871 10500 0.055 0.034 2706 3686 1933 1899 1967 0 0 0 0 0 0 25.16 24.93 24.27

4944 1.38 179.4 2705 3686 1897 1948 357.0 8.9 280 4951 0.00 2.15 2.08 0.125 9222 0.000 0.024 2716 2304 1906 1879 1933 0 0 0 0 0 0 28.83 25.77 24.50

5260 1.40 190.5 2715 2304 1879 1939 327.5 8.9 296 5283 0.00 2.30 16.10 0.815 8708 0.000 0.044 2725 900 1855 1825 1885 0 0 0 0 0 0 28.83 25.93 25.23

5363 1.44 206.0 2726 900 1822 1878 319.7 8.7 300 5383 0.00 2.10 14.90 0.819 9222 0.000 0.017 2726 2307 1799 1769 1830 0 0 0 0 0 0 28.83 26.15 25.14

5697 1.46 214.5 2727 2306 1759 1813 288.8 8.9 317 5710 0.00 2.20 6.62 0.772 8452 0.000 0.034 2726 3693 1764 1735 1794 0 0 0 0 0 0 28.83 26.16 25.36

5795 1.49 223.5 2725 3692 1734 1791 280.8 8.9 321 5813 0.00 2.15 10.88 0.789 9222 0.000 0.026 2736 2290 1723 1691 1756 0 0 0 0 0 0 28.83 26.25 25.34

6134 1.50 228.6 2736 2290 1688 1749 249.8 9.1 338 6139 0.00 0.00 3.58 0.580 8198 0.000 0.000 2736 2291 1706 1674 1738 0 0 0 0 0 0 28.83 28.83 25.27

6434 1.51 231.2 2736 2291 1673 1739 222.0 9.2 353 6439 0.00 0.00 3.58 0.570 8198 0.000 0.000 2736 2291 1696 1662 1731 0 0 0 0 0 0 28.83 28.83 25.35

6733 1.51 234.7 2736 2290 1662 1731 194.6 9.1 368 6745 0.00 2.22 4.43 0.646 8452 0.000 0.034 2736 3693 1682 1647 1718 0 0 0 0 0 0 28.83 26.41 25.42

6781 1.53 241.1 2736 3693 1646 1718 190.3 9.0 370 6798 0.00 2.12 9.12 0.713 9222 0.000 0.027 2746 2299 1651 1606 1697 0 0 0 0 0 0 28.83 26.43 25.59

7107 1.54 243.2 2746 2299 1604 1694 160.3 9.2 386 7112 0.00 2.15 0.00 0.000 260 0.000 0.034 2746 3694 1649 1604 1694 0 0 0 0 0 0 28.83 26.42 28.83

7197 1.55 247.5 1760 3693 1567 1686 152.4 9.1 390 7209 0.00 2.12 4.85 0.643 9222 0.000 0.027 2756 2298 1629 1580 1679 0 0 0 0 0 0 28.83 26.46 25.46

7518 1.56 251.5 2755 2298 1581 1679 123.4 9.1 406 7529 0.00 2.15 5.12 0.635 8452 0.000 0.033 2756 3691 1613 1562 1664 0 0 0 0 0 0 28.83 26.41 25.63

7627 1.57 255.3 2755 3691 1562 1664 113.6 9.1 411 7638 0.12 2.12 4.57 0.599 13318 0.191 0.028 2738 2296 1599 1546 1652 0 0 0 0 0 0 26.23 26.46 25.48

7954 1.59 265.9 2737 2295 1546 1651 83.9 8.9 427 7972 0.00 0.00 13.43 0.603 8198 0.000 0.000 2738 2295 1552 1498 1606 0 0 0 0 0 0 28.83 28.83 25.70

8274 1.59 265.9 2737 2295 1497 1600 54.4 9.5 443 8280 0.00 2.15 0.00 0.000 260 0.000 0.035 2737 3690 1548 1497 1600 0 0 0 0 0 0 28.83 26.44 28.83

8499 1.61 272.0 2737 3690 1497 1600 34.7 9.0 460 8512 0.00 2.12 5.03 0.551 9222 0.000 0.027 2746 2290 1530 1477 1583 0 0 0 0 0 0 28.83 26.51 25.65

8831 1.61 272.0 1728 2287 1447 1577 4.2 9.4 512 8839 0.00 2.15 0.00 0.000 516 0.000 0.043 2756 893 1530 1477 1583 0 0 0 0 0 0 28.83 26.49 28.83

8846 end climb: SURFACE_DEPTH_REACHED

state 8846 begin surface coast

8879 end surface coast: CONTROL_FINISHED_OK

state 8879 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	172	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	50	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	55	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	-100710.98	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	230313,025604,2006.812,12005.448,30,0.9,30,-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	-65.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230313,030241,2006.825,12005.462,13,1.7,14,-2.7	MHEAD_RNG_PITCHd_Wd	341.0,182062,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3576

FINISH	0.0,1.024295	_10V_AH	10.2,16.309
SM_CCo	9136,0.45,0.106,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.38,1.62,0.45,0.068,0.015,0.106,87,1989,400,-10.55,-1.87,549.47,0,0,0,0,0,0,26.51,26.61,25.19	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1957.29,12005.47,230313,000017	MEM	323904
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16767,520
HUMID	46.77	CAP_FILE_SIZE	404628,2166
INTERNAL_PRESSURE	9.18503	CFSIZE	260034560,231247872
TCM_TEMP	20.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
XPDR_PINGS	0	CURRENT	0.028,128.4,1
SC_FREEKB	3957120	GPS	230313,053634,2007.499,12005.147,30,1.3,30,-2.7
_24V_AH	24.2,29.429

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	215	89.80	nil	0	0	0.00
Roll_motor	68	44	73.23	nil	0	0	0.00
VBD_pump_during_apogee	415	1038	10438.88	nil	0	0	0.00
VBD_pump_during_surface	223	677	3661.86	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	8890	5	1191.43
Iridium_during_xfer	219	136	724.06	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	29	4.69
TT8	2091	14	308.41
LPSleep	4713	2	105.29
TT8_Active	754	14	111.34
TT8_Sampling	1606	39	641.92
TT8_CF8	345	46	164.58
TT8_Kalman	0	0	0.00
Analog_circuits	1848	15	292.32
GPS_charging	0	0	0.00
Compass	1393	7	106.44
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	84	1948	333	475	0.0	0.0	0	44	0.00	0.00	-23.83	0.000	16386	0.000	0.000	83	1948	1026	1007	1046	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	83	1948	1009	1046	3.0	-8.1	3	154	7.93	2.25	-92.97	0.000	18692	0.216	0.044	2093	3374	3337	3249	3426	0	0	0	0	0	0	25.79	26.15	26.44
305	-1.35	-170.3	2093	3374	3252	3426	26.7	-9.1	43	314	0.00	2.12	0.00	0.000	1030	0.000	0.026	2101	1979	3339	3252	3426	0	0	0	0	0	0	28.83	26.29	28.83
623	-1.35	-170.3	2101	1979	3254	3426	55.5	-8.8	72	629	0.00	2.15	0.00	0.000	516	0.000	0.040	2112	566	3339	3253	3426	0	0	0	0	0	0	28.83	26.41	28.83
818	-1.35	-170.3	2110	566	3256	3426	72.7	-9.1	81	825	0.00	2.05	0.00	0.000	1030	0.000	0.015	2103	1992	3341	3256	3426	0	0	0	0	0	0	28.83	26.55	28.83
1139	-1.35	-170.3	2103	1993	3258	3426	101.8	-9.0	97	1140	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	1994	3342	3258	3426	0	0	0	0	0	0	28.83	28.83	28.83
1441	-1.35	-170.3	2103	1993	3258	3426	128.8	-9.7	112	1447	0.00	2.03	0.00	0.000	260	0.000	0.031	2093	3362	3342	3259	3426	0	0	0	0	0	0	28.83	26.60	28.83
1519	-1.35	-170.3	2093	3361	3258	3426	135.1	-9.0	115	1526	0.00	2.08	0.00	0.000	1030	0.000	0.025	2100	1971	3342	3258	3426	0	0	0	0	0	0	28.83	26.61	28.83
1834	-1.35	-170.3	2100	1971	3258	3425	164.2	-9.1	131	1841	0.00	2.12	0.00	0.000	516	0.000	0.041	2110	570	3341	3258	3425	0	0	0	0	0	0	28.83	26.60	28.83
1902	-1.35	-170.3	2109	570	3258	3425	170.5	-9.2	134	1908	0.00	2.03	0.00	0.000	1030	0.000	0.015	2101	1977	3341	3258	3425	0	0	0	0	0	0	28.83	26.68	28.83
2227	-1.35	-170.3	2101	1977	3258	3422	200.0	-8.9	150	2233	0.00	2.05	0.00	0.000	260	0.000	0.032	2091	3362	3339	3257	3422	0	0	0	0	0	0	28.83	26.63	28.83
2329	-1.35	-170.3	2091	3362	3258	3421	207.9	-9.1	154	2337	0.00	2.08	0.00	0.000	1030	0.000	0.027	2092	1972	3339	3258	3421	0	0	0	0	0	0	28.83	26.65	28.83
2635	-1.35	-170.3	2092	1972	3257	3418	237.1	-8.9	170	2641	0.00	2.12	0.00	0.000	516	0.000	0.044	2102	576	3337	3257	3418	0	0	0	0	0	0	28.83	26.62	28.83
2725	-1.35	-170.3	2101	577	3257	3418	244.8	-8.9	174	2731	0.00	2.00	0.00	0.000	1030	0.000	0.016	2093	1970	3336	3256	3417	0	0	0	0	0	0	28.83	26.70	28.83
3045	-1.35	-170.3	2093	1971	3254	3415	273.1	-8.5	190	3046	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1971	3334	3254	3415	0	0	0	0	0	0	28.83	28.83	28.83
3347	-1.35	-170.3	2093	1971	3253	3412	300.2	-8.9	205	3354	0.00	2.17	0.00	0.000	516	0.000	0.043	2102	571	3332	3253	3412	0	0	0	0	0	0	28.83	26.63	28.83
3383	-1.35	-170.3	2102	571	3253	3411	302.7	-9.1	206	3389	0.00	2.03	0.00	0.000	1030	0.000	0.017	2093	1974	3332	3253	3411	0	0	0	0	0	0	28.83	26.71	28.83
3697	-1.35	-170.3	2093	1974	3250	3409	332.1	-9.3	222	3698	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1974	3329	3250	3409	0	0	0	0	0	0	28.83	28.83	28.83
4000	-1.35	-170.3	2093	1974	3247	3407	359.3	-9.0	237	4001	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1974	3327	3248	3407	0	0	0	0	0	0	28.83	28.83	28.83
4299	-1.35	-170.3	2093	1975	3245	3405	386.2	-9.3	252	4305	0.00	2.17	0.00	0.000	516	0.000	0.044	2101	577	3325	3247	3404	0	0	0	0	0	0	28.83	26.62	28.83
4450	end dive: TARGET_DEPTH_EXCEEDED
state	4450	begin apogee
4457	-0.25	0.0	2090	2295	3243	3404	400.1	-9.2	259	4623	0.77	0.00	152.55	1.038	10246	0.116	0.000	2346	2297	2639	2589	2689	0	0	0	0	1	0	26.47	28.83	24.24
4626	end apogee: CONTROL_FINISHED_OK
state	4626	begin climb
4628	1.35	170.3	2345	2296	2589	2689	385.5	0.0	266	4799	1.00	2.30	158.70	0.871	10500	0.055	0.034	2706	3686	1933	1899	1967	0	0	0	0	0	0	25.16	24.93	24.27
4944	1.38	179.4	2705	3686	1897	1948	357.0	8.9	280	4951	0.00	2.15	2.08	0.125	9222	0.000	0.024	2716	2304	1906	1879	1933	0	0	0	0	0	0	28.83	25.77	24.50
5260	1.40	190.5	2715	2304	1879	1939	327.5	8.9	296	5283	0.00	2.30	16.10	0.815	8708	0.000	0.044	2725	900	1855	1825	1885	0	0	0	0	0	0	28.83	25.93	25.23
5363	1.44	206.0	2726	900	1822	1878	319.7	8.7	300	5383	0.00	2.10	14.90	0.819	9222	0.000	0.017	2726	2307	1799	1769	1830	0	0	0	0	0	0	28.83	26.15	25.14
5697	1.46	214.5	2727	2306	1759	1813	288.8	8.9	317	5710	0.00	2.20	6.62	0.772	8452	0.000	0.034	2726	3693	1764	1735	1794	0	0	0	0	0	0	28.83	26.16	25.36
5795	1.49	223.5	2725	3692	1734	1791	280.8	8.9	321	5813	0.00	2.15	10.88	0.789	9222	0.000	0.026	2736	2290	1723	1691	1756	0	0	0	0	0	0	28.83	26.25	25.34
6134	1.50	228.6	2736	2290	1688	1749	249.8	9.1	338	6139	0.00	0.00	3.58	0.580	8198	0.000	0.000	2736	2291	1706	1674	1738	0	0	0	0	0	0	28.83	28.83	25.27
6434	1.51	231.2	2736	2291	1673	1739	222.0	9.2	353	6439	0.00	0.00	3.58	0.570	8198	0.000	0.000	2736	2291	1696	1662	1731	0	0	0	0	0	0	28.83	28.83	25.35
6733	1.51	234.7	2736	2290	1662	1731	194.6	9.1	368	6745	0.00	2.22	4.43	0.646	8452	0.000	0.034	2736	3693	1682	1647	1718	0	0	0	0	0	0	28.83	26.41	25.42
6781	1.53	241.1	2736	3693	1646	1718	190.3	9.0	370	6798	0.00	2.12	9.12	0.713	9222	0.000	0.027	2746	2299	1651	1606	1697	0	0	0	0	0	0	28.83	26.43	25.59
7107	1.54	243.2	2746	2299	1604	1694	160.3	9.2	386	7112	0.00	2.15	0.00	0.000	260	0.000	0.034	2746	3694	1649	1604	1694	0	0	0	0	0	0	28.83	26.42	28.83
7197	1.55	247.5	1760	3693	1567	1686	152.4	9.1	390	7209	0.00	2.12	4.85	0.643	9222	0.000	0.027	2756	2298	1629	1580	1679	0	0	0	0	0	0	28.83	26.46	25.46
7518	1.56	251.5	2755	2298	1581	1679	123.4	9.1	406	7529	0.00	2.15	5.12	0.635	8452	0.000	0.033	2756	3691	1613	1562	1664	0	0	0	0	0	0	28.83	26.41	25.63
7627	1.57	255.3	2755	3691	1562	1664	113.6	9.1	411	7638	0.12	2.12	4.57	0.599	13318	0.191	0.028	2738	2296	1599	1546	1652	0	0	0	0	0	0	26.23	26.46	25.48
7954	1.59	265.9	2737	2295	1546	1651	83.9	8.9	427	7972	0.00	0.00	13.43	0.603	8198	0.000	0.000	2738	2295	1552	1498	1606	0	0	0	0	0	0	28.83	28.83	25.70
8274	1.59	265.9	2737	2295	1497	1600	54.4	9.5	443	8280	0.00	2.15	0.00	0.000	260	0.000	0.035	2737	3690	1548	1497	1600	0	0	0	0	0	0	28.83	26.44	28.83
8499	1.61	272.0	2737	3690	1497	1600	34.7	9.0	460	8512	0.00	2.12	5.03	0.551	9222	0.000	0.027	2746	2290	1530	1477	1583	0	0	0	0	0	0	28.83	26.51	25.65
8831	1.61	272.0	1728	2287	1447	1577	4.2	9.4	512	8839	0.00	2.15	0.00	0.000	516	0.000	0.043	2756	893	1530	1477	1583	0	0	0	0	0	0	28.83	26.49	28.83
8846	end climb: SURFACE_DEPTH_REACHED
state	8846	begin surface coast
8879	end surface coast: CONTROL_FINISHED_OK
state	8879	begin surface