Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 175 * 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 175 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 49 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 56 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 -100714.74 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 -100714.74

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 49 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 56 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 175 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 230313,110031,2009.875,12003.933,15,1.3,15,-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 -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230313,110743,2009.937,12003.913,18,1.3,19,-2.7 MHEAD_RNG_PITCHd_Wd 34.9,176186,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3571

Post-dive calculations and measurements:

FINISH 0.0,1.024345 _10V_AH 10.2,16.501

SM_CCo 9174,0.98,0.073,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,0.50,0.98,0.070,0.040,0.073,88,1948,400,-10.53,0.90,549.47,0,0,0,0,0,0,26.30,26.34,25.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2004.18,12000.35,230313,080848 MEM 323892

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20097,524

HUMID 47.51 CAP_FILE_SIZE 397398,2080

INTERNAL_PRESSURE 9.17526 CFSIZE 260034560,230907904

TCM_TEMP 20.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

XPDR_PINGS 0 CURRENT 0.216, 10.5,1

SC_FREEKB 3955968 GPS 230313,134235,2011.801,12004.548,51,1.0,51,-2.7

_24V_AH 24.4,29.890

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 217 91.58 nil 0 0 0.00

Roll_motor 68 45 75.71 nil 0 0 0.00

VBD_pump_during_apogee 498 842 10235.04 nil 0 0 0.00

VBD_pump_during_surface 198 677 3280.74 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 8963 5 1215.96

Iridium_during_xfer 250 132 807.95 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.15

TT8 2022 14 298.34

LPSleep 4815 2 107.56

TT8_Active 796 14 117.46

TT8_Sampling 1610 39 643.47

TT8_CF8 341 46 162.41

TT8_Kalman 0 0 0.00

Analog_circuits 1909 15 301.90

GPS_charging 0 0 0.00

Compass 1356 7 103.63

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 86 1949 331 472 0.0 0.0 0 44 0.00 0.00 -24.08 0.000 16386 0.000 0.000 85 1949 1028 1006 1050 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 86 1950 1009 1051 3.2 -8.8 3 146 7.95 2.25 -84.07 0.000 18692 0.217 0.043 2093 3377 3337 3245 3430 0 0 0 0 0 0 25.81 26.17 26.46

312 -1.35 -170.3 2093 3377 3250 3429 27.5 -9.2 44 318 0.00 2.12 0.00 0.000 1030 0.000 0.024 2101 1974 3339 3249 3429 0 0 0 0 0 0 28.83 26.32 28.83

628 -1.35 -170.3 2100 1974 3253 3429 55.8 -9.4 72 634 0.00 2.12 0.00 0.000 516 0.000 0.040 2111 578 3341 3253 3429 0 0 0 0 0 0 28.83 26.44 28.83

807 -1.35 -170.3 2111 578 3254 3430 70.8 -8.7 80 814 0.00 2.03 0.00 0.000 1030 0.000 0.015 2103 1991 3341 3253 3430 0 0 0 0 0 0 28.83 26.56 28.83

1123 -1.35 -170.3 2102 1992 3255 3430 99.1 -9.0 96 1129 0.00 2.05 0.00 0.000 260 0.000 0.031 2093 3368 3343 3256 3430 0 0 0 0 0 0 28.83 26.56 28.83

1226 -1.35 -170.3 2092 3368 3256 3430 107.2 -9.2 100 1235 0.00 2.08 0.00 0.000 1030 0.000 0.024 2099 1967 3342 3255 3430 0 0 0 0 0 0 28.83 26.59 28.83

1532 -1.35 -170.3 2099 1967 3255 3429 136.1 -9.0 116 1539 0.00 2.10 0.00 0.000 516 0.000 0.040 2109 574 3342 3255 3429 0 0 0 0 0 0 28.83 26.59 28.83

1641 -1.35 -170.3 2109 574 3255 3429 145.9 -9.1 121 1648 0.00 2.00 0.00 0.000 1030 0.000 0.015 2101 1977 3342 3255 3429 0 0 0 0 0 0 28.83 26.69 28.83

1967 -1.35 -170.3 2101 1978 3255 3427 175.6 -8.9 137 1973 0.00 2.05 0.00 0.000 260 0.000 0.031 2091 3367 3341 3255 3427 0 0 0 0 0 0 28.83 26.63 28.83

1996 -1.35 -170.3 2090 3367 3255 3426 177.8 -8.9 138 2002 0.00 2.08 0.00 0.000 1030 0.000 0.026 2098 1974 3340 3255 3426 0 0 0 0 0 0 28.83 26.65 28.83

2317 -1.35 -170.3 2098 1974 3255 3423 207.3 -9.1 154 2322 0.00 2.12 0.00 0.000 516 0.000 0.041 2107 571 3339 3255 3423 0 0 0 0 0 0 28.83 26.62 28.83

2398 -1.35 -170.3 2107 571 3255 3423 213.3 -9.0 157 2406 0.00 2.03 0.00 0.000 1030 0.000 0.016 2099 1983 3338 3255 3422 0 0 0 0 0 0 28.83 26.70 28.83

2704 -1.35 -170.3 2099 1983 3255 3419 242.0 -8.8 173 2705 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1983 3337 3255 3419 0 0 0 0 0 0 28.83 28.83 28.83

3004 -1.35 -170.3 2099 1984 3254 3416 269.4 -9.3 188 3011 0.00 2.17 0.00 0.000 516 0.000 0.041 2107 572 3335 3254 3416 0 0 0 0 0 0 28.83 26.63 28.83

3034 -1.35 -170.3 2107 572 3254 3416 271.7 -9.2 189 3040 0.00 2.03 0.00 0.000 1030 0.000 0.016 2098 1979 3334 3254 3415 0 0 0 0 0 0 28.83 26.72 28.83

3354 -1.35 -170.3 2098 1980 3253 3413 301.1 -9.0 205 3355 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 1980 3333 3253 3413 0 0 0 0 0 0 28.83 28.83 28.83

3655 -1.35 -170.3 2098 1980 3252 3410 328.2 -9.0 220 3656 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1980 3331 3252 3410 0 0 0 0 0 0 28.83 28.83 28.83

3957 -1.35 -170.3 2098 1981 3249 3408 354.9 -8.9 235 3962 0.00 2.05 0.00 0.000 260 0.000 0.033 2088 3356 3328 3249 3408 0 0 0 0 0 0 28.83 26.65 28.83

3983 -1.35 -170.3 2088 3356 3248 3407 357.4 -9.0 236 3989 0.00 2.08 0.00 0.000 1030 0.000 0.028 2088 1980 3328 3249 3407 0 0 0 0 0 0 28.83 26.66 28.83

4308 -1.35 -170.3 2088 1980 3247 3405 386.6 -9.1 252 4314 0.00 2.15 0.00 0.000 516 0.000 0.045 2098 575 3326 3247 3405 0 0 0 0 0 0 28.83 26.62 28.83

4390 -1.35 -170.3 2097 575 3246 3405 392.6 -9.0 255 4398 0.00 2.03 0.00 0.000 1030 0.000 0.017 2089 1975 3325 3245 3405 0 0 0 0 0 0 28.83 26.71 28.83

4473 end dive: TARGET_DEPTH_EXCEEDED

state 4473 begin apogee

4478 -0.25 0.0 2087 2311 3245 3404 401.4 -8.6 260 4696 0.77 0.00 209.68 0.730 10246 0.115 0.000 2342 2311 2636 2587 2686 0 0 0 0 0 0 26.46 28.83 24.63

4698 end apogee: CONTROL_FINISHED_OK

state 4698 begin climb

4700 1.35 170.3 2342 2311 2584 2681 383.3 0.0 269 4863 1.00 2.20 153.85 0.842 10500 0.057 0.032 2703 3680 1935 1903 1968 0 0 0 0 0 0 25.29 25.01 24.35

5056 1.35 170.3 2702 3681 1898 1948 350.3 9.3 285 5064 0.00 2.12 0.00 0.000 1030 0.000 0.024 2712 2302 1922 1898 1947 0 0 0 0 0 0 28.83 25.93 28.83

5362 1.38 179.4 2712 2301 1898 1944 321.7 8.9 301 5370 0.00 2.22 1.73 0.059 8452 0.000 0.031 2712 3691 1906 1882 1931 0 0 0 0 0 0 28.83 26.25 26.15

5395 1.39 186.6 2712 3691 1882 1933 319.3 9.0 302 5413 0.00 2.12 12.18 0.802 9222 0.000 0.024 2722 2299 1875 1850 1901 0 0 0 0 0 0 28.83 26.29 25.36

5710 1.41 191.4 2722 2298 1846 1892 290.6 9.1 318 5717 0.00 2.22 1.62 0.095 8452 0.000 0.032 2724 3692 1860 1836 1884 0 0 0 0 0 0 28.83 26.33 26.10

5751 1.42 197.9 2722 3692 1836 1886 288.3 9.0 319 5770 0.10 2.12 10.73 0.773 13318 0.198 0.024 2711 2295 1828 1801 1855 0 0 0 0 0 0 26.15 26.36 25.47

6086 1.45 209.3 2711 2295 1800 1849 257.3 8.8 336 6103 0.00 2.22 11.35 0.752 8452 0.000 0.033 2711 3681 1782 1753 1812 0 0 0 0 0 0 28.83 26.22 25.52

6237 1.47 218.8 2711 3681 1749 1806 243.9 8.9 343 6256 0.00 2.10 9.75 0.744 9222 0.000 0.025 2720 2301 1743 1713 1774 0 0 0 0 0 0 28.83 26.33 25.46

6555 1.49 226.0 2719 2301 1712 1768 215.1 9.0 359 6565 0.00 0.00 7.22 0.724 8454 0.000 0.000 2720 2301 1715 1683 1748 0 0 0 0 0 0 28.83 28.83 25.53

6879 1.50 230.1 2720 2301 1681 1741 185.9 9.1 375 6880 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2301 1711 1681 1741 0 0 0 0 0 0 28.83 28.83 28.83

7180 1.52 238.7 2720 2301 1681 1740 158.5 8.9 390 7199 0.00 0.00 12.90 0.666 8198 0.000 0.000 2720 2301 1660 1620 1701 0 0 0 0 0 0 28.83 28.83 25.67

7500 1.55 249.3 2719 2301 1612 1700 129.5 8.9 406 7518 0.00 0.00 10.43 0.645 8198 0.000 0.000 2720 2301 1617 1569 1665 0 0 0 0 0 0 28.83 28.83 25.66

7818 1.55 249.3 2720 2301 1568 1660 100.5 9.4 422 7824 0.00 2.20 0.00 0.000 516 0.000 0.044 2731 892 1614 1568 1660 0 0 0 0 0 0 28.83 26.41 28.83

7894 1.56 252.7 2730 893 1568 1660 94.5 9.1 425 7900 0.00 2.08 0.00 0.000 1030 0.000 0.017 2731 2303 1614 1568 1660 0 0 0 0 0 0 28.83 26.52 28.83

8209 1.60 268.2 2730 2304 1568 1659 66.3 8.7 441 8233 0.00 2.20 18.20 0.575 8452 0.000 0.035 2731 3695 1540 1488 1593 0 0 0 0 0 0 28.83 26.32 25.73

8333 1.61 274.4 2730 3696 1487 1588 56.3 9.0 446 8342 0.00 2.12 4.55 0.542 9222 0.000 0.025 2741 2298 1520 1468 1573 0 0 0 0 0 0 28.83 26.39 25.47

8640 1.66 291.1 2740 2298 1467 1572 27.4 8.7 474 8666 0.00 2.22 18.50 0.535 8452 0.000 0.033 2740 3687 1447 1399 1495 0 0 0 0 0 0 28.83 26.25 25.67

8793 1.69 306.9 1728 3686 1373 1483 13.5 8.7 498 8816 0.00 2.10 15.35 0.522 9222 0.000 0.025 2750 2300 1383 1347 1420 0 0 0 0 0 0 28.83 26.36 25.61

8910 end climb: SURFACE_DEPTH_REACHED

state 8910 begin surface coast

8943 end surface coast: CONTROL_FINISHED_OK

state 8943 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	175	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	49	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	56	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	-100714.74	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	230313,110031,2009.875,12003.933,15,1.3,15,-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	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230313,110743,2009.937,12003.913,18,1.3,19,-2.7	MHEAD_RNG_PITCHd_Wd	34.9,176186,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3571

FINISH	0.0,1.024345	_10V_AH	10.2,16.501
SM_CCo	9174,0.98,0.073,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,0.50,0.98,0.070,0.040,0.073,88,1948,400,-10.53,0.90,549.47,0,0,0,0,0,0,26.30,26.34,25.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2004.18,12000.35,230313,080848	MEM	323892
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20097,524
HUMID	47.51	CAP_FILE_SIZE	397398,2080
INTERNAL_PRESSURE	9.17526	CFSIZE	260034560,230907904
TCM_TEMP	20.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS	0	CURRENT	0.216, 10.5,1
SC_FREEKB	3955968	GPS	230313,134235,2011.801,12004.548,51,1.0,51,-2.7
_24V_AH	24.4,29.890

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	217	91.58	nil	0	0	0.00
Roll_motor	68	45	75.71	nil	0	0	0.00
VBD_pump_during_apogee	498	842	10235.04	nil	0	0	0.00
VBD_pump_during_surface	198	677	3280.74	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	8963	5	1215.96
Iridium_during_xfer	250	132	807.95	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.15
TT8	2022	14	298.34
LPSleep	4815	2	107.56
TT8_Active	796	14	117.46
TT8_Sampling	1610	39	643.47
TT8_CF8	341	46	162.41
TT8_Kalman	0	0	0.00
Analog_circuits	1909	15	301.90
GPS_charging	0	0	0.00
Compass	1356	7	103.63
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	86	1949	331	472	0.0	0.0	0	44	0.00	0.00	-24.08	0.000	16386	0.000	0.000	85	1949	1028	1006	1050	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	86	1950	1009	1051	3.2	-8.8	3	146	7.95	2.25	-84.07	0.000	18692	0.217	0.043	2093	3377	3337	3245	3430	0	0	0	0	0	0	25.81	26.17	26.46
312	-1.35	-170.3	2093	3377	3250	3429	27.5	-9.2	44	318	0.00	2.12	0.00	0.000	1030	0.000	0.024	2101	1974	3339	3249	3429	0	0	0	0	0	0	28.83	26.32	28.83
628	-1.35	-170.3	2100	1974	3253	3429	55.8	-9.4	72	634	0.00	2.12	0.00	0.000	516	0.000	0.040	2111	578	3341	3253	3429	0	0	0	0	0	0	28.83	26.44	28.83
807	-1.35	-170.3	2111	578	3254	3430	70.8	-8.7	80	814	0.00	2.03	0.00	0.000	1030	0.000	0.015	2103	1991	3341	3253	3430	0	0	0	0	0	0	28.83	26.56	28.83
1123	-1.35	-170.3	2102	1992	3255	3430	99.1	-9.0	96	1129	0.00	2.05	0.00	0.000	260	0.000	0.031	2093	3368	3343	3256	3430	0	0	0	0	0	0	28.83	26.56	28.83
1226	-1.35	-170.3	2092	3368	3256	3430	107.2	-9.2	100	1235	0.00	2.08	0.00	0.000	1030	0.000	0.024	2099	1967	3342	3255	3430	0	0	0	0	0	0	28.83	26.59	28.83
1532	-1.35	-170.3	2099	1967	3255	3429	136.1	-9.0	116	1539	0.00	2.10	0.00	0.000	516	0.000	0.040	2109	574	3342	3255	3429	0	0	0	0	0	0	28.83	26.59	28.83
1641	-1.35	-170.3	2109	574	3255	3429	145.9	-9.1	121	1648	0.00	2.00	0.00	0.000	1030	0.000	0.015	2101	1977	3342	3255	3429	0	0	0	0	0	0	28.83	26.69	28.83
1967	-1.35	-170.3	2101	1978	3255	3427	175.6	-8.9	137	1973	0.00	2.05	0.00	0.000	260	0.000	0.031	2091	3367	3341	3255	3427	0	0	0	0	0	0	28.83	26.63	28.83
1996	-1.35	-170.3	2090	3367	3255	3426	177.8	-8.9	138	2002	0.00	2.08	0.00	0.000	1030	0.000	0.026	2098	1974	3340	3255	3426	0	0	0	0	0	0	28.83	26.65	28.83
2317	-1.35	-170.3	2098	1974	3255	3423	207.3	-9.1	154	2322	0.00	2.12	0.00	0.000	516	0.000	0.041	2107	571	3339	3255	3423	0	0	0	0	0	0	28.83	26.62	28.83
2398	-1.35	-170.3	2107	571	3255	3423	213.3	-9.0	157	2406	0.00	2.03	0.00	0.000	1030	0.000	0.016	2099	1983	3338	3255	3422	0	0	0	0	0	0	28.83	26.70	28.83
2704	-1.35	-170.3	2099	1983	3255	3419	242.0	-8.8	173	2705	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1983	3337	3255	3419	0	0	0	0	0	0	28.83	28.83	28.83
3004	-1.35	-170.3	2099	1984	3254	3416	269.4	-9.3	188	3011	0.00	2.17	0.00	0.000	516	0.000	0.041	2107	572	3335	3254	3416	0	0	0	0	0	0	28.83	26.63	28.83
3034	-1.35	-170.3	2107	572	3254	3416	271.7	-9.2	189	3040	0.00	2.03	0.00	0.000	1030	0.000	0.016	2098	1979	3334	3254	3415	0	0	0	0	0	0	28.83	26.72	28.83
3354	-1.35	-170.3	2098	1980	3253	3413	301.1	-9.0	205	3355	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	1980	3333	3253	3413	0	0	0	0	0	0	28.83	28.83	28.83
3655	-1.35	-170.3	2098	1980	3252	3410	328.2	-9.0	220	3656	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1980	3331	3252	3410	0	0	0	0	0	0	28.83	28.83	28.83
3957	-1.35	-170.3	2098	1981	3249	3408	354.9	-8.9	235	3962	0.00	2.05	0.00	0.000	260	0.000	0.033	2088	3356	3328	3249	3408	0	0	0	0	0	0	28.83	26.65	28.83
3983	-1.35	-170.3	2088	3356	3248	3407	357.4	-9.0	236	3989	0.00	2.08	0.00	0.000	1030	0.000	0.028	2088	1980	3328	3249	3407	0	0	0	0	0	0	28.83	26.66	28.83
4308	-1.35	-170.3	2088	1980	3247	3405	386.6	-9.1	252	4314	0.00	2.15	0.00	0.000	516	0.000	0.045	2098	575	3326	3247	3405	0	0	0	0	0	0	28.83	26.62	28.83
4390	-1.35	-170.3	2097	575	3246	3405	392.6	-9.0	255	4398	0.00	2.03	0.00	0.000	1030	0.000	0.017	2089	1975	3325	3245	3405	0	0	0	0	0	0	28.83	26.71	28.83
4473	end dive: TARGET_DEPTH_EXCEEDED
state	4473	begin apogee
4478	-0.25	0.0	2087	2311	3245	3404	401.4	-8.6	260	4696	0.77	0.00	209.68	0.730	10246	0.115	0.000	2342	2311	2636	2587	2686	0	0	0	0	0	0	26.46	28.83	24.63
4698	end apogee: CONTROL_FINISHED_OK
state	4698	begin climb
4700	1.35	170.3	2342	2311	2584	2681	383.3	0.0	269	4863	1.00	2.20	153.85	0.842	10500	0.057	0.032	2703	3680	1935	1903	1968	0	0	0	0	0	0	25.29	25.01	24.35
5056	1.35	170.3	2702	3681	1898	1948	350.3	9.3	285	5064	0.00	2.12	0.00	0.000	1030	0.000	0.024	2712	2302	1922	1898	1947	0	0	0	0	0	0	28.83	25.93	28.83
5362	1.38	179.4	2712	2301	1898	1944	321.7	8.9	301	5370	0.00	2.22	1.73	0.059	8452	0.000	0.031	2712	3691	1906	1882	1931	0	0	0	0	0	0	28.83	26.25	26.15
5395	1.39	186.6	2712	3691	1882	1933	319.3	9.0	302	5413	0.00	2.12	12.18	0.802	9222	0.000	0.024	2722	2299	1875	1850	1901	0	0	0	0	0	0	28.83	26.29	25.36
5710	1.41	191.4	2722	2298	1846	1892	290.6	9.1	318	5717	0.00	2.22	1.62	0.095	8452	0.000	0.032	2724	3692	1860	1836	1884	0	0	0	0	0	0	28.83	26.33	26.10
5751	1.42	197.9	2722	3692	1836	1886	288.3	9.0	319	5770	0.10	2.12	10.73	0.773	13318	0.198	0.024	2711	2295	1828	1801	1855	0	0	0	0	0	0	26.15	26.36	25.47
6086	1.45	209.3	2711	2295	1800	1849	257.3	8.8	336	6103	0.00	2.22	11.35	0.752	8452	0.000	0.033	2711	3681	1782	1753	1812	0	0	0	0	0	0	28.83	26.22	25.52
6237	1.47	218.8	2711	3681	1749	1806	243.9	8.9	343	6256	0.00	2.10	9.75	0.744	9222	0.000	0.025	2720	2301	1743	1713	1774	0	0	0	0	0	0	28.83	26.33	25.46
6555	1.49	226.0	2719	2301	1712	1768	215.1	9.0	359	6565	0.00	0.00	7.22	0.724	8454	0.000	0.000	2720	2301	1715	1683	1748	0	0	0	0	0	0	28.83	28.83	25.53
6879	1.50	230.1	2720	2301	1681	1741	185.9	9.1	375	6880	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2301	1711	1681	1741	0	0	0	0	0	0	28.83	28.83	28.83
7180	1.52	238.7	2720	2301	1681	1740	158.5	8.9	390	7199	0.00	0.00	12.90	0.666	8198	0.000	0.000	2720	2301	1660	1620	1701	0	0	0	0	0	0	28.83	28.83	25.67
7500	1.55	249.3	2719	2301	1612	1700	129.5	8.9	406	7518	0.00	0.00	10.43	0.645	8198	0.000	0.000	2720	2301	1617	1569	1665	0	0	0	0	0	0	28.83	28.83	25.66
7818	1.55	249.3	2720	2301	1568	1660	100.5	9.4	422	7824	0.00	2.20	0.00	0.000	516	0.000	0.044	2731	892	1614	1568	1660	0	0	0	0	0	0	28.83	26.41	28.83
7894	1.56	252.7	2730	893	1568	1660	94.5	9.1	425	7900	0.00	2.08	0.00	0.000	1030	0.000	0.017	2731	2303	1614	1568	1660	0	0	0	0	0	0	28.83	26.52	28.83
8209	1.60	268.2	2730	2304	1568	1659	66.3	8.7	441	8233	0.00	2.20	18.20	0.575	8452	0.000	0.035	2731	3695	1540	1488	1593	0	0	0	0	0	0	28.83	26.32	25.73
8333	1.61	274.4	2730	3696	1487	1588	56.3	9.0	446	8342	0.00	2.12	4.55	0.542	9222	0.000	0.025	2741	2298	1520	1468	1573	0	0	0	0	0	0	28.83	26.39	25.47
8640	1.66	291.1	2740	2298	1467	1572	27.4	8.7	474	8666	0.00	2.22	18.50	0.535	8452	0.000	0.033	2740	3687	1447	1399	1495	0	0	0	0	0	0	28.83	26.25	25.67
8793	1.69	306.9	1728	3686	1373	1483	13.5	8.7	498	8816	0.00	2.10	15.35	0.522	9222	0.000	0.025	2750	2300	1383	1347	1420	0	0	0	0	0	0	28.83	26.36	25.61
8910	end climb: SURFACE_DEPTH_REACHED
state	8910	begin surface coast
8943	end surface coast: CONTROL_FINISHED_OK
state	8943	begin surface