Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 181 * 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 181 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 -100722.27 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 -100722.27

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 181 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 240313,030919,2020.241,12004.029,21,1.4,21,-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 -66.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240313,031631,2020.248,12004.126,17,1.4,18,-2.7 MHEAD_RNG_PITCHd_Wd 7.9,157120,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3540

Post-dive calculations and measurements:

FINISH 0.0,1.024693 _10V_AH 10.2,16.873

SM_CCo 9180,0.75,0.128,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.40,0.52,0.75,0.070,0.034,0.128,83,1957,401,-10.57,1.10,549.47,0,0,0,0,0,0,26.48,26.53,25.15 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2013.37,12000.66,240313,000007 MEM 323892

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16729,525

HUMID 47.28 CAP_FILE_SIZE 410661,2070

INTERNAL_PRESSURE 9.17526 CFSIZE 260034560,230207488

TCM_TEMP 20.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0

XPDR_PINGS 0 CURRENT 0.044,353.3,1

SC_FREEKB 3953664 GPS 240313,055134,2021.388,12004.040,55,0.8,55,-2.7

_24V_AH 24.4,30.796

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 214 89.63 nil 0 0 0.00

Roll_motor 47 52 61.73 nil 0 0 0.00

VBD_pump_during_apogee 404 875 8642.46 nil 0 0 0.00

VBD_pump_during_surface 229 687 3844.05 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 8919 5 1199.11

Iridium_during_xfer 250 133 819.41 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.76

TT8 2020 14 298.06

LPSleep 4879 2 108.99

TT8_Active 729 14 107.58

TT8_Sampling 1602 39 640.61

TT8_CF8 360 46 171.80

TT8_Kalman 0 0 0.00

Analog_circuits 1787 15 282.68

GPS_charging 0 0 0.00

Compass 1348 7 103.05

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 88 1950 328 474 0.0 0.0 0 43 0.00 0.00 -23.40 0.000 16386 0.000 0.000 88 1949 1008 994 1023 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 88 1950 994 1025 3.1 -9.0 3 153 7.85 2.22 -91.38 0.000 18948 0.214 0.053 2107 570 3337 3245 3429 0 0 0 0 0 0 25.77 26.14 26.45

401 -1.35 -170.3 2107 570 3250 3429 35.4 -9.0 52 407 0.00 2.08 0.00 0.000 1030 0.000 0.015 2098 1997 3340 3251 3429 0 0 0 0 0 0 28.83 26.41 28.83

726 -1.35 -170.3 2098 1999 3253 3429 64.0 -8.8 76 732 0.00 2.03 0.00 0.000 260 0.000 0.030 2088 3361 3341 3253 3429 0 0 0 0 0 0 28.83 26.47 28.83

777 -1.35 -170.3 2089 3361 3253 3429 68.0 -9.0 78 782 0.00 2.08 0.00 0.000 1030 0.000 0.025 2092 1973 3341 3253 3429 0 0 0 0 0 0 28.83 26.50 28.83

1097 -1.35 -170.3 2093 1974 3255 3429 97.2 -9.1 94 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1974 3342 3255 3429 0 0 0 0 0 0 28.83 28.83 28.83

1398 -1.35 -170.3 2092 1974 3255 3429 124.7 -9.1 109 1399 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1974 3341 3255 3428 0 0 0 0 0 0 28.83 28.83 28.83

1698 -1.35 -170.3 2092 1974 3254 3429 151.7 -9.2 124 1699 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 1974 3342 3255 3429 0 0 0 0 0 0 28.83 28.83 28.83

1999 -1.35 -170.3 2092 1974 3255 3427 178.8 -8.8 139 2000 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 1974 3341 3255 3427 0 0 0 0 0 0 28.83 28.83 28.83

2298 -1.35 -170.3 2092 1974 3254 3423 206.5 -9.2 154 2303 0.00 2.12 0.00 0.000 516 0.000 0.041 2103 570 3338 3254 3423 0 0 0 0 0 0 28.83 26.62 28.83

2359 -1.35 -170.3 2102 570 3254 3423 210.9 -9.3 156 2367 0.00 2.03 0.00 0.000 1030 0.000 0.016 2094 1981 3338 3254 3422 0 0 0 0 0 0 28.83 26.70 28.83

2665 -1.35 -170.3 2094 1981 3254 3420 239.6 -9.3 172 2666 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1981 3337 3255 3420 0 0 0 0 0 0 28.83 28.83 28.83

2967 -1.35 -170.3 2094 1982 3254 3417 266.5 -9.0 187 2968 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1982 3335 3254 3416 0 0 0 0 0 0 28.83 28.83 28.83

3266 -1.35 -170.3 2094 1983 3253 3414 294.1 -9.1 202 3272 0.00 2.17 0.00 0.000 516 0.000 0.041 2102 573 3333 3253 3414 0 0 0 0 0 0 28.83 26.63 28.83

3395 -1.35 -170.3 1264 573 3225 3410 306.0 -9.6 208 3401 0.00 2.03 0.00 0.000 1030 0.000 0.016 2094 1973 3332 3252 3413 0 0 0 0 0 0 28.83 26.71 28.83

3721 -1.35 -170.3 2094 1974 3251 3409 335.0 -9.1 224 3723 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1973 3330 3251 3409 0 0 0 0 0 0 28.83 28.83 28.83

4021 -1.35 -170.3 2094 1974 3248 3408 361.7 -9.1 239 4022 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1974 3328 3248 3408 0 0 0 0 0 0 28.83 28.83 28.83

4321 -1.35 -170.3 2094 1974 3246 3406 388.2 -8.7 254 4322 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1974 3326 3246 3406 0 0 0 0 0 0 28.83 28.83 28.83

4459 end dive: TARGET_DEPTH_EXCEEDED

state 4459 begin apogee

4464 -0.25 0.0 2092 2312 3244 3404 400.7 -9.0 261 4625 0.77 0.00 149.75 0.875 10246 0.116 0.000 2345 2312 2631 2582 2680 0 0 0 0 0 0 26.44 28.83 24.53

4627 end apogee: CONTROL_FINISHED_OK

state 4627 begin climb

4629 1.35 170.3 2345 2312 2581 2678 386.4 0.0 268 4793 1.00 2.28 154.95 0.848 10500 0.057 0.034 2704 3679 1938 1904 1972 0 0 0 0 0 0 25.32 25.01 24.37

5024 1.37 177.6 2704 3679 1899 1947 351.6 9.0 285 5033 0.00 2.12 0.00 0.000 1030 0.000 0.024 2714 2298 1923 1899 1947 0 0 0 0 0 0 28.83 25.98 28.83

5330 1.37 177.6 2713 2298 1898 1944 322.1 9.3 301 5336 0.00 2.15 0.00 0.000 260 0.000 0.032 2714 3690 1922 1898 1946 0 0 0 0 0 0 28.83 26.27 28.83

5447 1.39 184.5 2714 3690 1898 1943 312.4 9.0 306 5467 0.00 2.12 10.50 0.799 9222 0.000 0.024 2723 2292 1881 1857 1906 0 0 0 0 0 0 28.83 26.35 25.45

5786 1.41 192.1 2723 2292 1855 1897 281.5 9.0 323 5790 0.00 0.00 2.80 0.396 8198 0.000 0.000 2723 2292 1856 1832 1880 0 0 0 0 0 0 28.83 28.83 25.27

6085 1.41 192.1 2723 2292 1831 1888 253.7 9.3 338 6091 0.00 2.15 0.00 0.000 260 0.000 0.033 2723 3692 1859 1831 1887 0 0 0 0 0 0 28.83 26.44 28.83

6155 1.41 193.2 1728 3691 1785 1878 247.8 9.2 341 6162 0.12 2.12 0.00 0.000 5126 0.191 0.025 2706 2292 1859 1831 1888 0 0 0 0 0 0 26.23 26.48 28.83

6477 1.42 198.3 2704 2292 1831 1888 218.7 9.1 357 6493 0.00 2.25 10.98 0.734 8708 0.000 0.043 2714 897 1826 1797 1856 0 0 0 0 0 0 28.83 26.34 25.65

6576 1.45 209.3 2714 897 1795 1850 210.6 8.9 361 6595 0.00 2.08 11.43 0.724 9222 0.000 0.017 2714 2302 1779 1749 1810 0 0 0 0 0 0 28.83 26.45 25.55

6914 1.48 222.8 2714 2302 1750 1803 179.3 8.8 378 6937 0.00 2.17 13.52 0.696 8452 0.000 0.036 2714 3681 1723 1692 1755 0 0 0 0 0 0 28.83 26.23 25.56

7131 1.51 234.4 1752 3680 1656 1743 160.6 8.8 388 7149 0.00 2.10 11.43 0.683 9222 0.000 0.025 2724 2301 1680 1646 1714 0 0 0 0 0 0 28.83 26.36 25.53

7448 1.52 236.2 2724 2301 1644 1707 131.6 9.2 404 7454 0.00 2.15 0.00 0.000 260 0.000 0.034 2724 3692 1675 1645 1706 0 0 0 0 0 0 28.83 26.36 28.83

7535 1.53 243.1 2724 3692 1644 1706 123.7 9.0 408 7552 0.00 2.12 8.12 0.657 9222 0.000 0.026 2734 2295 1644 1601 1688 0 0 0 0 0 0 28.83 26.42 25.62

7861 1.55 250.0 2734 2295 1598 1684 94.8 9.0 424 7869 0.00 0.00 5.38 0.622 8198 0.000 0.000 2734 2295 1622 1575 1669 0 0 0 0 0 0 28.83 28.83 25.63

8163 1.59 265.2 2734 2295 1575 1669 67.6 8.7 439 8187 0.00 2.28 17.73 0.586 8708 0.000 0.043 2744 889 1553 1500 1606 0 0 0 0 0 0 28.83 26.23 25.65

8255 1.61 273.2 1760 888 1470 1594 59.6 9.0 443 8274 0.00 2.10 8.15 0.594 9222 0.000 0.018 2745 2303 1519 1467 1572 0 0 0 0 0 0 28.83 26.36 25.58

8572 1.61 274.6 2746 2302 1467 1568 30.8 9.2 469 8573 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2303 1517 1467 1568 0 0 0 0 0 0 28.83 28.83 28.83

8877 end climb: SURFACE_DEPTH_REACHED

state 8877 begin surface coast

8913 end surface coast: CONTROL_FINISHED_OK

state 8913 begin surface

ID	121	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	1975	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	181	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	-100722.27	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	240313,030919,2020.241,12004.029,21,1.4,21,-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	-66.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240313,031631,2020.248,12004.126,17,1.4,18,-2.7	MHEAD_RNG_PITCHd_Wd	7.9,157120,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3540

FINISH	0.0,1.024693	_10V_AH	10.2,16.873
SM_CCo	9180,0.75,0.128,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.40,0.52,0.75,0.070,0.034,0.128,83,1957,401,-10.57,1.10,549.47,0,0,0,0,0,0,26.48,26.53,25.15	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2013.37,12000.66,240313,000007	MEM	323892
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16729,525
HUMID	47.28	CAP_FILE_SIZE	410661,2070
INTERNAL_PRESSURE	9.17526	CFSIZE	260034560,230207488
TCM_TEMP	20.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
XPDR_PINGS	0	CURRENT	0.044,353.3,1
SC_FREEKB	3953664	GPS	240313,055134,2021.388,12004.040,55,0.8,55,-2.7
_24V_AH	24.4,30.796

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	214	89.63	nil	0	0	0.00
Roll_motor	47	52	61.73	nil	0	0	0.00
VBD_pump_during_apogee	404	875	8642.46	nil	0	0	0.00
VBD_pump_during_surface	229	687	3844.05	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	8919	5	1199.11
Iridium_during_xfer	250	133	819.41	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.76
TT8	2020	14	298.06
LPSleep	4879	2	108.99
TT8_Active	729	14	107.58
TT8_Sampling	1602	39	640.61
TT8_CF8	360	46	171.80
TT8_Kalman	0	0	0.00
Analog_circuits	1787	15	282.68
GPS_charging	0	0	0.00
Compass	1348	7	103.05
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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	88	1950	328	474	0.0	0.0	0	43	0.00	0.00	-23.40	0.000	16386	0.000	0.000	88	1949	1008	994	1023	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	88	1950	994	1025	3.1	-9.0	3	153	7.85	2.22	-91.38	0.000	18948	0.214	0.053	2107	570	3337	3245	3429	0	0	0	0	0	0	25.77	26.14	26.45
401	-1.35	-170.3	2107	570	3250	3429	35.4	-9.0	52	407	0.00	2.08	0.00	0.000	1030	0.000	0.015	2098	1997	3340	3251	3429	0	0	0	0	0	0	28.83	26.41	28.83
726	-1.35	-170.3	2098	1999	3253	3429	64.0	-8.8	76	732	0.00	2.03	0.00	0.000	260	0.000	0.030	2088	3361	3341	3253	3429	0	0	0	0	0	0	28.83	26.47	28.83
777	-1.35	-170.3	2089	3361	3253	3429	68.0	-9.0	78	782	0.00	2.08	0.00	0.000	1030	0.000	0.025	2092	1973	3341	3253	3429	0	0	0	0	0	0	28.83	26.50	28.83
1097	-1.35	-170.3	2093	1974	3255	3429	97.2	-9.1	94	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1974	3342	3255	3429	0	0	0	0	0	0	28.83	28.83	28.83
1398	-1.35	-170.3	2092	1974	3255	3429	124.7	-9.1	109	1399	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1974	3341	3255	3428	0	0	0	0	0	0	28.83	28.83	28.83
1698	-1.35	-170.3	2092	1974	3254	3429	151.7	-9.2	124	1699	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	1974	3342	3255	3429	0	0	0	0	0	0	28.83	28.83	28.83
1999	-1.35	-170.3	2092	1974	3255	3427	178.8	-8.8	139	2000	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	1974	3341	3255	3427	0	0	0	0	0	0	28.83	28.83	28.83
2298	-1.35	-170.3	2092	1974	3254	3423	206.5	-9.2	154	2303	0.00	2.12	0.00	0.000	516	0.000	0.041	2103	570	3338	3254	3423	0	0	0	0	0	0	28.83	26.62	28.83
2359	-1.35	-170.3	2102	570	3254	3423	210.9	-9.3	156	2367	0.00	2.03	0.00	0.000	1030	0.000	0.016	2094	1981	3338	3254	3422	0	0	0	0	0	0	28.83	26.70	28.83
2665	-1.35	-170.3	2094	1981	3254	3420	239.6	-9.3	172	2666	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1981	3337	3255	3420	0	0	0	0	0	0	28.83	28.83	28.83
2967	-1.35	-170.3	2094	1982	3254	3417	266.5	-9.0	187	2968	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1982	3335	3254	3416	0	0	0	0	0	0	28.83	28.83	28.83
3266	-1.35	-170.3	2094	1983	3253	3414	294.1	-9.1	202	3272	0.00	2.17	0.00	0.000	516	0.000	0.041	2102	573	3333	3253	3414	0	0	0	0	0	0	28.83	26.63	28.83
3395	-1.35	-170.3	1264	573	3225	3410	306.0	-9.6	208	3401	0.00	2.03	0.00	0.000	1030	0.000	0.016	2094	1973	3332	3252	3413	0	0	0	0	0	0	28.83	26.71	28.83
3721	-1.35	-170.3	2094	1974	3251	3409	335.0	-9.1	224	3723	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1973	3330	3251	3409	0	0	0	0	0	0	28.83	28.83	28.83
4021	-1.35	-170.3	2094	1974	3248	3408	361.7	-9.1	239	4022	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1974	3328	3248	3408	0	0	0	0	0	0	28.83	28.83	28.83
4321	-1.35	-170.3	2094	1974	3246	3406	388.2	-8.7	254	4322	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1974	3326	3246	3406	0	0	0	0	0	0	28.83	28.83	28.83
4459	end dive: TARGET_DEPTH_EXCEEDED
state	4459	begin apogee
4464	-0.25	0.0	2092	2312	3244	3404	400.7	-9.0	261	4625	0.77	0.00	149.75	0.875	10246	0.116	0.000	2345	2312	2631	2582	2680	0	0	0	0	0	0	26.44	28.83	24.53
4627	end apogee: CONTROL_FINISHED_OK
state	4627	begin climb
4629	1.35	170.3	2345	2312	2581	2678	386.4	0.0	268	4793	1.00	2.28	154.95	0.848	10500	0.057	0.034	2704	3679	1938	1904	1972	0	0	0	0	0	0	25.32	25.01	24.37
5024	1.37	177.6	2704	3679	1899	1947	351.6	9.0	285	5033	0.00	2.12	0.00	0.000	1030	0.000	0.024	2714	2298	1923	1899	1947	0	0	0	0	0	0	28.83	25.98	28.83
5330	1.37	177.6	2713	2298	1898	1944	322.1	9.3	301	5336	0.00	2.15	0.00	0.000	260	0.000	0.032	2714	3690	1922	1898	1946	0	0	0	0	0	0	28.83	26.27	28.83
5447	1.39	184.5	2714	3690	1898	1943	312.4	9.0	306	5467	0.00	2.12	10.50	0.799	9222	0.000	0.024	2723	2292	1881	1857	1906	0	0	0	0	0	0	28.83	26.35	25.45
5786	1.41	192.1	2723	2292	1855	1897	281.5	9.0	323	5790	0.00	0.00	2.80	0.396	8198	0.000	0.000	2723	2292	1856	1832	1880	0	0	0	0	0	0	28.83	28.83	25.27
6085	1.41	192.1	2723	2292	1831	1888	253.7	9.3	338	6091	0.00	2.15	0.00	0.000	260	0.000	0.033	2723	3692	1859	1831	1887	0	0	0	0	0	0	28.83	26.44	28.83
6155	1.41	193.2	1728	3691	1785	1878	247.8	9.2	341	6162	0.12	2.12	0.00	0.000	5126	0.191	0.025	2706	2292	1859	1831	1888	0	0	0	0	0	0	26.23	26.48	28.83
6477	1.42	198.3	2704	2292	1831	1888	218.7	9.1	357	6493	0.00	2.25	10.98	0.734	8708	0.000	0.043	2714	897	1826	1797	1856	0	0	0	0	0	0	28.83	26.34	25.65
6576	1.45	209.3	2714	897	1795	1850	210.6	8.9	361	6595	0.00	2.08	11.43	0.724	9222	0.000	0.017	2714	2302	1779	1749	1810	0	0	0	0	0	0	28.83	26.45	25.55
6914	1.48	222.8	2714	2302	1750	1803	179.3	8.8	378	6937	0.00	2.17	13.52	0.696	8452	0.000	0.036	2714	3681	1723	1692	1755	0	0	0	0	0	0	28.83	26.23	25.56
7131	1.51	234.4	1752	3680	1656	1743	160.6	8.8	388	7149	0.00	2.10	11.43	0.683	9222	0.000	0.025	2724	2301	1680	1646	1714	0	0	0	0	0	0	28.83	26.36	25.53
7448	1.52	236.2	2724	2301	1644	1707	131.6	9.2	404	7454	0.00	2.15	0.00	0.000	260	0.000	0.034	2724	3692	1675	1645	1706	0	0	0	0	0	0	28.83	26.36	28.83
7535	1.53	243.1	2724	3692	1644	1706	123.7	9.0	408	7552	0.00	2.12	8.12	0.657	9222	0.000	0.026	2734	2295	1644	1601	1688	0	0	0	0	0	0	28.83	26.42	25.62
7861	1.55	250.0	2734	2295	1598	1684	94.8	9.0	424	7869	0.00	0.00	5.38	0.622	8198	0.000	0.000	2734	2295	1622	1575	1669	0	0	0	0	0	0	28.83	28.83	25.63
8163	1.59	265.2	2734	2295	1575	1669	67.6	8.7	439	8187	0.00	2.28	17.73	0.586	8708	0.000	0.043	2744	889	1553	1500	1606	0	0	0	0	0	0	28.83	26.23	25.65
8255	1.61	273.2	1760	888	1470	1594	59.6	9.0	443	8274	0.00	2.10	8.15	0.594	9222	0.000	0.018	2745	2303	1519	1467	1572	0	0	0	0	0	0	28.83	26.36	25.58
8572	1.61	274.6	2746	2302	1467	1568	30.8	9.2	469	8573	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2303	1517	1467	1568	0	0	0	0	0	0	28.83	28.83	28.83
8877	end climb: SURFACE_DEPTH_REACHED
state	8877	begin surface coast
8913	end surface coast: CONTROL_FINISHED_OK
state	8913	begin surface