Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 173 * 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 173 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 35 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 73 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 -100712.24 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 -100712.24

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 35 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 73 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 173 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 230313,053634,2007.499,12005.147,30,1.3,30,-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 -65.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230313,054323,2007.525,12005.138,15,1.2,16,-2.7 MHEAD_RNG_PITCHd_Wd 354.9,180739,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3572

Post-dive calculations and measurements:

FINISH 0.0,1.024592 _10V_AH 10.1,16.373

SM_CCo 9128,1.45,0.139,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.53,0.47,1.45,0.072,0.043,0.139,88,1960,401,-10.53,1.19,549.47,0,0,0,0,0,0,26.33,26.36,25.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1959.59,12003.49,230313,020201 MEM 323884

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16775,519

HUMID 48.46 CAP_FILE_SIZE 408902,2191

INTERNAL_PRESSURE 9.1655 CFSIZE 260034560,231129088

TCM_TEMP 19.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

XPDR_PINGS 4 CURRENT 0.033,279.3,1

SC_FREEKB 3956736 GPS 230313,081803,2008.391,12004.746,84,0.8,84,-2.7

_24V_AH 24.3,29.584

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 214 89.40 nil 0 0 0.00

Roll_motor 68 45 75.32 nil 0 0 0.00

VBD_pump_during_apogee 505 847 10410.32 nil 0 0 0.00

VBD_pump_during_surface 201 696 3401.47 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 8910 5 1202.51

Iridium_during_xfer 230 134 752.83 nil 0 0 0.00

Transponder_ping 1 420 10.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.23

TT8 2083 14 304.33

LPSleep 4637 2 102.58

TT8_Active 802 14 117.27

TT8_Sampling 1645 39 650.99

TT8_CF8 348 46 164.06

TT8_Kalman 0 0 0.00

Analog_circuits 1924 15 301.26

GPS_charging 0 0 0.00

Compass 1419 7 107.38

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 85 2004 331 471 0.0 0.0 0 44 0.00 0.00 -23.98 0.000 16386 0.000 0.000 85 2004 1025 1005 1045 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 85 2005 1004 1046 3.3 -8.2 3 153 7.88 2.08 -88.38 0.000 18692 0.214 0.043 2093 3364 3335 3242 3429 0 0 0 0 0 0 25.81 26.15 26.44

312 -1.35 -170.3 2092 3364 3246 3429 27.8 -8.9 44 318 0.00 2.12 0.00 0.000 1030 0.000 0.032 2101 1967 3337 3246 3429 0 0 0 0 0 0 28.83 26.30 28.83

638 -1.35 -170.3 2101 1966 3249 3429 57.2 -9.0 72 644 0.00 2.10 0.00 0.000 260 0.000 0.029 2093 3358 3338 3248 3429 0 0 0 0 0 0 28.83 26.45 28.83

878 -1.35 -170.3 2093 3357 3252 3429 77.8 -8.9 83 884 0.00 2.08 0.00 0.000 1030 0.000 0.025 2101 1968 3340 3252 3429 0 0 0 0 0 0 28.83 26.52 28.83

1193 -1.35 -170.3 2100 1968 3252 3428 106.8 -8.9 99 1199 0.00 2.10 0.00 0.000 260 0.000 0.030 2092 3364 3341 3253 3429 0 0 0 0 0 0 28.83 26.56 28.83

1349 -1.35 -170.3 2092 3364 3252 3431 120.5 -8.9 106 1355 0.00 2.08 0.00 0.000 1030 0.000 0.026 2100 1974 3339 3251 3428 0 0 0 0 0 0 28.83 26.60 28.83

1669 -1.35 -170.3 2100 1974 3252 3428 150.0 -9.1 122 1676 0.00 2.15 0.00 0.000 516 0.000 0.042 2110 566 3339 3252 3427 0 0 0 0 0 0 28.83 26.59 28.83

1726 -1.35 -170.3 2109 566 3252 3427 154.3 -9.0 124 1732 0.00 2.03 0.00 0.000 1030 0.000 0.016 2101 1985 3341 3255 3427 0 0 0 0 0 0 28.83 26.67 28.83

2041 -1.35 -170.3 2101 1986 3252 3425 183.7 -9.1 140 2047 0.00 2.03 0.00 0.000 260 0.000 0.031 2091 3355 3338 3252 3425 0 0 0 0 0 0 28.83 26.63 28.83

2107 -1.35 -170.3 2091 3355 3252 3423 189.8 -9.0 143 2113 0.00 2.08 0.00 0.000 1030 0.000 0.028 2093 1970 3337 3252 3422 0 0 0 0 0 0 28.83 26.64 28.83

2433 -1.35 -170.3 2093 1970 3252 3421 219.1 -9.1 159 2434 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1970 3336 3252 3421 0 0 0 0 0 0 28.83 28.83 28.83

2734 -1.35 -170.3 2093 1970 3252 3417 246.0 -9.1 174 2740 0.00 2.12 0.00 0.000 516 0.000 0.044 2102 577 3334 3252 3417 0 0 0 0 0 0 28.83 26.62 28.83

2763 -1.35 -170.3 2103 577 3252 3417 248.4 -9.0 175 2769 0.00 2.00 0.00 0.000 1030 0.000 0.016 2094 1971 3334 3252 3417 0 0 0 0 0 0 28.83 26.71 28.83

3083 -1.35 -170.3 2094 1971 3252 3414 277.3 -8.9 191 3090 0.00 2.05 0.00 0.000 260 0.000 0.032 2084 3355 3332 3252 3413 0 0 0 0 0 0 28.83 26.65 28.83

3150 -1.35 -170.3 2084 3355 3252 3412 283.5 -8.9 194 3157 0.00 2.08 0.00 0.000 1030 0.000 0.029 2087 1978 3332 3252 3412 0 0 0 0 0 0 28.83 26.65 28.83

3476 -1.35 -170.3 2087 1979 3249 3409 312.3 -8.5 210 3482 0.00 2.15 0.00 0.000 516 0.000 0.045 2097 574 3329 3250 3408 0 0 0 0 0 0 28.83 26.62 28.83

3544 -1.35 -170.3 2097 574 3249 3409 318.2 -8.7 213 3549 0.00 2.03 0.00 0.000 1030 0.000 0.016 2089 1973 3329 3249 3409 0 0 0 0 0 0 28.83 26.71 28.83

3868 -1.35 -170.3 2088 1974 3248 3406 347.9 -9.0 229 3869 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 1974 3327 3248 3406 0 0 0 0 0 0 28.83 28.83 28.83

4171 -1.35 -170.3 2088 1974 3245 3404 374.4 -8.7 244 4177 0.00 2.17 0.00 0.000 516 0.000 0.044 2097 575 3323 3244 3403 0 0 0 0 0 0 28.83 26.62 28.83

4211 -1.35 -170.3 2097 576 3244 3403 376.9 -8.7 245 4220 0.00 2.03 0.00 0.000 1030 0.000 0.017 2090 1977 3323 3244 3403 0 0 0 0 0 0 28.83 26.71 28.83

4456 end dive: TARGET_DEPTH_EXCEEDED

state 4456 begin apogee

4461 -0.25 0.0 2086 2302 3242 3401 400.4 -9.0 258 4678 0.77 0.00 210.60 0.752 10246 0.118 0.000 2341 2302 2639 2590 2689 0 0 0 0 0 0 26.46 28.83 24.60

4681 end apogee: CONTROL_FINISHED_OK

state 4681 begin climb

4683 1.35 170.3 2341 2302 2584 2681 381.5 0.0 267 4849 1.00 2.22 156.88 0.848 10500 0.058 0.033 2698 3683 1936 1904 1968 0 0 0 0 0 0 25.25 24.98 24.34

5092 1.37 176.0 2698 3684 1901 1946 342.9 9.1 286 5098 0.00 2.15 0.00 0.000 1030 0.000 0.024 2708 2296 1923 1901 1946 0 0 0 0 0 0 28.83 25.99 28.83

5417 1.39 186.2 2707 2296 1900 1942 312.9 8.9 302 5440 0.00 2.22 12.57 0.786 8452 0.000 0.032 2707 3685 1872 1849 1896 0 0 0 0 0 0 28.83 26.10 25.46

5464 1.42 196.4 2707 3685 1847 1894 308.7 8.9 304 5481 0.00 2.12 9.50 0.800 9222 0.000 0.025 2717 2301 1836 1811 1862 0 0 0 0 0 0 28.83 26.15 25.25

5789 1.42 196.4 2717 2301 1807 1851 279.2 9.7 320 5790 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2301 1829 1807 1851 0 0 0 0 0 0 28.83 28.83 28.83

6090 1.43 202.5 2717 2301 1808 1849 251.5 9.0 335 6095 0.00 0.00 2.80 0.409 8198 0.000 0.000 2717 2301 1813 1788 1838 0 0 0 0 0 0 28.83 28.83 25.32

6391 1.49 223.6 2717 2301 1788 1842 224.6 8.5 350 6426 0.00 2.28 25.33 0.743 8708 0.000 0.044 2728 900 1722 1691 1753 0 0 0 0 0 0 28.83 26.08 25.46

6438 1.50 230.2 2728 900 1691 1752 220.6 9.0 352 6450 0.00 2.08 4.70 0.682 9222 0.000 0.017 2728 2291 1699 1667 1732 0 0 0 0 0 0 28.83 26.18 25.21

6760 1.51 234.0 2728 2291 1667 1732 191.4 9.1 368 6771 0.00 2.15 4.53 0.660 8452 0.000 0.034 2728 3698 1684 1650 1718 0 0 0 0 0 0 28.83 26.28 25.32

6914 1.53 240.2 2728 3698 1651 1719 177.6 9.0 375 6930 0.00 2.15 8.65 0.717 9222 0.000 0.026 2738 2295 1656 1613 1699 0 0 0 0 0 0 28.83 26.36 25.54

7238 1.56 252.9 2738 2294 1607 1696 148.5 8.8 391 7259 0.00 0.00 13.27 0.685 8198 0.000 0.000 2738 2295 1602 1553 1652 0 0 0 0 0 0 28.83 28.83 25.57

7558 1.57 257.6 2738 2294 1552 1647 119.3 9.1 407 7566 0.00 2.25 3.22 0.476 8452 0.000 0.034 2738 3699 1588 1539 1638 0 0 0 0 0 0 28.83 26.36 25.39

7739 1.58 262.6 2738 3699 1539 1639 103.8 9.1 415 7753 0.00 2.12 7.43 0.652 9222 0.000 0.027 2748 2300 1566 1515 1618 0 0 0 0 0 0 28.83 26.44 25.65

8050 1.61 274.4 2748 2300 1514 1614 75.6 8.8 431 8074 0.00 2.25 12.95 0.614 8708 0.000 0.044 2759 900 1516 1463 1569 0 0 0 0 0 0 28.83 26.27 25.66

8140 1.63 281.2 2758 900 1461 1565 67.5 9.0 435 8153 0.00 2.08 6.85 0.612 9222 0.000 0.018 2759 2300 1492 1440 1544 0 0 0 0 0 0 28.83 26.38 25.59

8458 1.64 286.3 2758 2300 1438 1538 39.2 9.1 456 8472 0.00 2.12 4.43 0.541 8452 0.000 0.036 2759 3688 1471 1422 1521 0 0 0 0 0 0 28.83 26.36 25.48

8721 1.69 305.7 1728 3687 1394 1515 15.6 8.6 489 8753 0.00 2.12 21.73 0.532 9222 0.000 0.026 2768 2292 1386 1347 1426 0 0 0 0 0 0 28.83 26.46 25.65

8861 end climb: SURFACE_DEPTH_REACHED

state 8861 begin surface coast

8895 end surface coast: CONTROL_FINISHED_OK

state 8895 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	173	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	35	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	73	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	-100712.24	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	230313,053634,2007.499,12005.147,30,1.3,30,-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	-65.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230313,054323,2007.525,12005.138,15,1.2,16,-2.7	MHEAD_RNG_PITCHd_Wd	354.9,180739,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3572

FINISH	0.0,1.024592	_10V_AH	10.1,16.373
SM_CCo	9128,1.45,0.139,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.53,0.47,1.45,0.072,0.043,0.139,88,1960,401,-10.53,1.19,549.47,0,0,0,0,0,0,26.33,26.36,25.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1959.59,12003.49,230313,020201	MEM	323884
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16775,519
HUMID	48.46	CAP_FILE_SIZE	408902,2191
INTERNAL_PRESSURE	9.1655	CFSIZE	260034560,231129088
TCM_TEMP	19.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS	4	CURRENT	0.033,279.3,1
SC_FREEKB	3956736	GPS	230313,081803,2008.391,12004.746,84,0.8,84,-2.7
_24V_AH	24.3,29.584

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	214	89.40	nil	0	0	0.00
Roll_motor	68	45	75.32	nil	0	0	0.00
VBD_pump_during_apogee	505	847	10410.32	nil	0	0	0.00
VBD_pump_during_surface	201	696	3401.47	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	8910	5	1202.51
Iridium_during_xfer	230	134	752.83	nil	0	0	0.00
Transponder_ping	1	420	10.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.23
TT8	2083	14	304.33
LPSleep	4637	2	102.58
TT8_Active	802	14	117.27
TT8_Sampling	1645	39	650.99
TT8_CF8	348	46	164.06
TT8_Kalman	0	0	0.00
Analog_circuits	1924	15	301.26
GPS_charging	0	0	0.00
Compass	1419	7	107.38
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	85	2004	331	471	0.0	0.0	0	44	0.00	0.00	-23.98	0.000	16386	0.000	0.000	85	2004	1025	1005	1045	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	85	2005	1004	1046	3.3	-8.2	3	153	7.88	2.08	-88.38	0.000	18692	0.214	0.043	2093	3364	3335	3242	3429	0	0	0	0	0	0	25.81	26.15	26.44
312	-1.35	-170.3	2092	3364	3246	3429	27.8	-8.9	44	318	0.00	2.12	0.00	0.000	1030	0.000	0.032	2101	1967	3337	3246	3429	0	0	0	0	0	0	28.83	26.30	28.83
638	-1.35	-170.3	2101	1966	3249	3429	57.2	-9.0	72	644	0.00	2.10	0.00	0.000	260	0.000	0.029	2093	3358	3338	3248	3429	0	0	0	0	0	0	28.83	26.45	28.83
878	-1.35	-170.3	2093	3357	3252	3429	77.8	-8.9	83	884	0.00	2.08	0.00	0.000	1030	0.000	0.025	2101	1968	3340	3252	3429	0	0	0	0	0	0	28.83	26.52	28.83
1193	-1.35	-170.3	2100	1968	3252	3428	106.8	-8.9	99	1199	0.00	2.10	0.00	0.000	260	0.000	0.030	2092	3364	3341	3253	3429	0	0	0	0	0	0	28.83	26.56	28.83
1349	-1.35	-170.3	2092	3364	3252	3431	120.5	-8.9	106	1355	0.00	2.08	0.00	0.000	1030	0.000	0.026	2100	1974	3339	3251	3428	0	0	0	0	0	0	28.83	26.60	28.83
1669	-1.35	-170.3	2100	1974	3252	3428	150.0	-9.1	122	1676	0.00	2.15	0.00	0.000	516	0.000	0.042	2110	566	3339	3252	3427	0	0	0	0	0	0	28.83	26.59	28.83
1726	-1.35	-170.3	2109	566	3252	3427	154.3	-9.0	124	1732	0.00	2.03	0.00	0.000	1030	0.000	0.016	2101	1985	3341	3255	3427	0	0	0	0	0	0	28.83	26.67	28.83
2041	-1.35	-170.3	2101	1986	3252	3425	183.7	-9.1	140	2047	0.00	2.03	0.00	0.000	260	0.000	0.031	2091	3355	3338	3252	3425	0	0	0	0	0	0	28.83	26.63	28.83
2107	-1.35	-170.3	2091	3355	3252	3423	189.8	-9.0	143	2113	0.00	2.08	0.00	0.000	1030	0.000	0.028	2093	1970	3337	3252	3422	0	0	0	0	0	0	28.83	26.64	28.83
2433	-1.35	-170.3	2093	1970	3252	3421	219.1	-9.1	159	2434	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1970	3336	3252	3421	0	0	0	0	0	0	28.83	28.83	28.83
2734	-1.35	-170.3	2093	1970	3252	3417	246.0	-9.1	174	2740	0.00	2.12	0.00	0.000	516	0.000	0.044	2102	577	3334	3252	3417	0	0	0	0	0	0	28.83	26.62	28.83
2763	-1.35	-170.3	2103	577	3252	3417	248.4	-9.0	175	2769	0.00	2.00	0.00	0.000	1030	0.000	0.016	2094	1971	3334	3252	3417	0	0	0	0	0	0	28.83	26.71	28.83
3083	-1.35	-170.3	2094	1971	3252	3414	277.3	-8.9	191	3090	0.00	2.05	0.00	0.000	260	0.000	0.032	2084	3355	3332	3252	3413	0	0	0	0	0	0	28.83	26.65	28.83
3150	-1.35	-170.3	2084	3355	3252	3412	283.5	-8.9	194	3157	0.00	2.08	0.00	0.000	1030	0.000	0.029	2087	1978	3332	3252	3412	0	0	0	0	0	0	28.83	26.65	28.83
3476	-1.35	-170.3	2087	1979	3249	3409	312.3	-8.5	210	3482	0.00	2.15	0.00	0.000	516	0.000	0.045	2097	574	3329	3250	3408	0	0	0	0	0	0	28.83	26.62	28.83
3544	-1.35	-170.3	2097	574	3249	3409	318.2	-8.7	213	3549	0.00	2.03	0.00	0.000	1030	0.000	0.016	2089	1973	3329	3249	3409	0	0	0	0	0	0	28.83	26.71	28.83
3868	-1.35	-170.3	2088	1974	3248	3406	347.9	-9.0	229	3869	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	1974	3327	3248	3406	0	0	0	0	0	0	28.83	28.83	28.83
4171	-1.35	-170.3	2088	1974	3245	3404	374.4	-8.7	244	4177	0.00	2.17	0.00	0.000	516	0.000	0.044	2097	575	3323	3244	3403	0	0	0	0	0	0	28.83	26.62	28.83
4211	-1.35	-170.3	2097	576	3244	3403	376.9	-8.7	245	4220	0.00	2.03	0.00	0.000	1030	0.000	0.017	2090	1977	3323	3244	3403	0	0	0	0	0	0	28.83	26.71	28.83
4456	end dive: TARGET_DEPTH_EXCEEDED
state	4456	begin apogee
4461	-0.25	0.0	2086	2302	3242	3401	400.4	-9.0	258	4678	0.77	0.00	210.60	0.752	10246	0.118	0.000	2341	2302	2639	2590	2689	0	0	0	0	0	0	26.46	28.83	24.60
4681	end apogee: CONTROL_FINISHED_OK
state	4681	begin climb
4683	1.35	170.3	2341	2302	2584	2681	381.5	0.0	267	4849	1.00	2.22	156.88	0.848	10500	0.058	0.033	2698	3683	1936	1904	1968	0	0	0	0	0	0	25.25	24.98	24.34
5092	1.37	176.0	2698	3684	1901	1946	342.9	9.1	286	5098	0.00	2.15	0.00	0.000	1030	0.000	0.024	2708	2296	1923	1901	1946	0	0	0	0	0	0	28.83	25.99	28.83
5417	1.39	186.2	2707	2296	1900	1942	312.9	8.9	302	5440	0.00	2.22	12.57	0.786	8452	0.000	0.032	2707	3685	1872	1849	1896	0	0	0	0	0	0	28.83	26.10	25.46
5464	1.42	196.4	2707	3685	1847	1894	308.7	8.9	304	5481	0.00	2.12	9.50	0.800	9222	0.000	0.025	2717	2301	1836	1811	1862	0	0	0	0	0	0	28.83	26.15	25.25
5789	1.42	196.4	2717	2301	1807	1851	279.2	9.7	320	5790	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2301	1829	1807	1851	0	0	0	0	0	0	28.83	28.83	28.83
6090	1.43	202.5	2717	2301	1808	1849	251.5	9.0	335	6095	0.00	0.00	2.80	0.409	8198	0.000	0.000	2717	2301	1813	1788	1838	0	0	0	0	0	0	28.83	28.83	25.32
6391	1.49	223.6	2717	2301	1788	1842	224.6	8.5	350	6426	0.00	2.28	25.33	0.743	8708	0.000	0.044	2728	900	1722	1691	1753	0	0	0	0	0	0	28.83	26.08	25.46
6438	1.50	230.2	2728	900	1691	1752	220.6	9.0	352	6450	0.00	2.08	4.70	0.682	9222	0.000	0.017	2728	2291	1699	1667	1732	0	0	0	0	0	0	28.83	26.18	25.21
6760	1.51	234.0	2728	2291	1667	1732	191.4	9.1	368	6771	0.00	2.15	4.53	0.660	8452	0.000	0.034	2728	3698	1684	1650	1718	0	0	0	0	0	0	28.83	26.28	25.32
6914	1.53	240.2	2728	3698	1651	1719	177.6	9.0	375	6930	0.00	2.15	8.65	0.717	9222	0.000	0.026	2738	2295	1656	1613	1699	0	0	0	0	0	0	28.83	26.36	25.54
7238	1.56	252.9	2738	2294	1607	1696	148.5	8.8	391	7259	0.00	0.00	13.27	0.685	8198	0.000	0.000	2738	2295	1602	1553	1652	0	0	0	0	0	0	28.83	28.83	25.57
7558	1.57	257.6	2738	2294	1552	1647	119.3	9.1	407	7566	0.00	2.25	3.22	0.476	8452	0.000	0.034	2738	3699	1588	1539	1638	0	0	0	0	0	0	28.83	26.36	25.39
7739	1.58	262.6	2738	3699	1539	1639	103.8	9.1	415	7753	0.00	2.12	7.43	0.652	9222	0.000	0.027	2748	2300	1566	1515	1618	0	0	0	0	0	0	28.83	26.44	25.65
8050	1.61	274.4	2748	2300	1514	1614	75.6	8.8	431	8074	0.00	2.25	12.95	0.614	8708	0.000	0.044	2759	900	1516	1463	1569	0	0	0	0	0	0	28.83	26.27	25.66
8140	1.63	281.2	2758	900	1461	1565	67.5	9.0	435	8153	0.00	2.08	6.85	0.612	9222	0.000	0.018	2759	2300	1492	1440	1544	0	0	0	0	0	0	28.83	26.38	25.59
8458	1.64	286.3	2758	2300	1438	1538	39.2	9.1	456	8472	0.00	2.12	4.43	0.541	8452	0.000	0.036	2759	3688	1471	1422	1521	0	0	0	0	0	0	28.83	26.36	25.48
8721	1.69	305.7	1728	3687	1394	1515	15.6	8.6	489	8753	0.00	2.12	21.73	0.532	9222	0.000	0.026	2768	2292	1386	1347	1426	0	0	0	0	0	0	28.83	26.46	25.65
8861	end climb: SURFACE_DEPTH_REACHED
state	8861	begin surface coast
8895	end surface coast: CONTROL_FINISHED_OK
state	8895	begin surface