Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 183 * 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 183 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 39 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 57 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 -100724.79 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 -100724.79

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 39 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 57 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 183 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 240313,083125,2022.438,12003.758,33,1.7,33,-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 -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240313,083837,2022.380,12003.688,16,0.7,17,-2.7 MHEAD_RNG_PITCHd_Wd 8.3,153144,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3470

Post-dive calculations and measurements:

FINISH 0.0,1.023759 _10V_AH 10.1,16.996

SM_CCo 9120,0.03,0.291,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.60,0.55,0.03,0.072,0.035,0.291,88,1949,401,-10.53,0.79,549.47,0,0,0,0,0,0,26.32,26.35,25.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2015.67,12003.80,240313,050525 MEM 323904

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16753,518

HUMID 47.99 CAP_FILE_SIZE 411387,2028

INTERNAL_PRESSURE 9.1948 CFSIZE 260034560,229978112

TCM_TEMP 20.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 1 CURRENT 0.206,286.8,1

SC_FREEKB 3952896 GPS 240313,111222,2023.590,12002.607,37,0.9,37,-2.7

_24V_AH 24.3,31.081

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 211 88.70 nil 0 0 0.00

Roll_motor 64 53 84.22 nil 0 0 0.00

VBD_pump_during_apogee 444 892 9648.38 nil 0 0 0.00

VBD_pump_during_surface 179 684 2990.19 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 8931 5 1186.03

Iridium_during_xfer 250 133 810.83 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.45

TT8 1997 14 291.74

LPSleep 4855 2 107.39

TT8_Active 726 14 106.14

TT8_Sampling 1592 39 630.18

TT8_CF8 360 46 169.75

TT8_Kalman 0 0 0.00

Analog_circuits 1787 15 279.84

GPS_charging 0 0 0.00

Compass 1326 7 100.36

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 15 begin dive

18 -1.35 -170.3 87 1951 331 471 0.0 0.0 0 43 0.00 0.00 -23.42 0.000 16386 0.000 0.000 86 1951 1008 999 1018 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 87 1951 999 1020 3.2 -8.6 3 162 7.85 2.20 -95.30 0.000 18948 0.212 0.054 2112 570 3338 3247 3429 0 0 0 0 0 0 25.82 26.18 26.48

218 -1.35 -170.3 1248 569 3221 3425 19.3 -8.8 28 226 0.00 2.08 0.00 0.000 1030 0.000 0.015 2104 1994 3338 3249 3428 0 0 0 0 0 0 28.83 26.30 28.83

532 -1.35 -170.3 2105 1996 3252 3428 47.8 -9.0 64 538 0.00 2.05 0.00 0.000 260 0.000 0.031 2094 3366 3340 3252 3428 0 0 0 0 0 0 28.83 26.42 28.83

667 -1.35 -170.3 2093 3366 3253 3428 59.5 -9.0 71 673 0.00 2.10 0.00 0.000 1030 0.000 0.024 2101 1956 3341 3253 3429 0 0 0 0 0 0 28.83 26.49 28.83

988 -1.35 -170.3 2101 1956 3256 3428 88.5 -8.7 87 993 0.00 2.08 0.00 0.000 516 0.000 0.039 2111 575 3342 3256 3429 0 0 0 0 0 0 28.83 26.53 28.83

1078 -1.35 -170.3 2111 575 3258 3428 96.5 -9.2 91 1083 0.00 2.00 0.00 0.000 1030 0.000 0.015 2103 1981 3343 3258 3429 0 0 0 0 0 0 28.83 26.62 28.83

1398 -1.35 -170.3 2103 1983 3257 3429 125.7 -9.0 107 1399 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 1981 3343 3258 3429 0 0 0 0 0 0 28.83 28.83 28.83

1698 -1.35 -170.3 2103 1982 3257 3429 152.7 -9.0 122 1699 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 1982 3342 3257 3428 0 0 0 0 0 0 28.83 28.83 28.83

1998 -1.35 -170.3 2103 1982 3257 3426 180.4 -9.0 137 2004 0.00 2.15 0.00 0.000 516 0.000 0.038 2110 574 3341 3257 3426 0 0 0 0 0 0 28.83 26.62 28.83

2086 -1.35 -170.3 2110 574 3257 3426 188.5 -9.1 141 2092 0.00 2.00 0.00 0.000 1030 0.000 0.015 2102 1979 3341 3257 3426 0 0 0 0 0 0 28.83 26.70 28.83

2410 -1.35 -170.3 2102 1980 3257 3422 217.8 -9.4 157 2412 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 1980 3339 3257 3422 0 0 0 0 0 0 28.83 28.83 28.83

2712 -1.35 -170.3 2102 1980 3257 3418 244.6 -8.9 172 2718 0.00 2.03 0.00 0.000 260 0.000 0.031 2092 3350 3337 3257 3417 0 0 0 0 0 0 28.83 26.65 28.83

2761 -1.35 -170.3 2092 3351 3256 3417 249.0 -9.0 174 2767 0.00 2.05 0.00 0.000 1030 0.000 0.026 2092 1979 3338 3259 3417 0 0 0 0 0 0 28.83 26.66 28.83

3087 -1.35 -170.3 2093 1979 3253 3414 278.9 -9.3 190 3088 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 1978 3333 3253 3414 0 0 0 0 0 0 28.83 28.83 28.83

3387 -1.35 -170.3 2092 1978 3252 3411 305.7 -9.2 205 3393 0.00 2.15 0.00 0.000 516 0.000 0.043 2100 571 3331 3252 3410 0 0 0 0 0 0 28.83 26.63 28.83

3537 -1.35 -170.3 2100 571 3252 3410 319.2 -9.2 212 3543 0.00 2.03 0.00 0.000 1030 0.000 0.016 2092 1970 3330 3251 3410 0 0 0 0 0 0 28.83 26.72 28.83

3864 -1.35 -170.3 2092 1971 3248 3407 349.4 -9.1 228 3865 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 1971 3327 3248 3407 0 0 0 0 0 0 28.83 28.83 28.83

4164 -1.35 -170.3 2092 1971 3246 3405 376.1 -9.1 243 4165 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 1971 3325 3246 3405 0 0 0 0 0 0 28.83 28.83 28.83

4441 end dive: TARGET_DEPTH_EXCEEDED

state 4442 begin apogee

4446 -0.25 0.0 2089 2310 3243 3402 401.5 -8.8 257 4598 0.77 0.00 146.00 0.893 10246 0.116 0.000 2343 2310 2637 2588 2686 0 0 0 0 0 0 26.45 28.83 24.51

4601 end apogee: CONTROL_FINISHED_OK

state 4601 begin climb

4603 1.35 170.3 2343 2309 2583 2681 388.8 0.0 263 4762 1.00 2.28 149.93 0.881 10500 0.058 0.033 2701 3679 1938 1904 1972 0 0 0 0 0 0 25.27 25.01 24.34

4935 1.36 171.9 2701 3679 1900 1950 357.4 9.2 278 4941 0.00 2.12 0.00 0.000 1030 0.000 0.024 2711 2307 1925 1900 1950 0 0 0 0 0 0 28.83 25.89 28.83

5250 1.39 187.0 2711 2307 1900 1946 328.6 8.7 294 5273 0.00 2.20 13.80 0.826 8452 0.000 0.032 2711 3681 1868 1843 1893 0 0 0 0 0 0 28.83 26.05 25.30

5323 1.42 196.0 2711 3682 1841 1889 322.6 8.9 297 5334 0.00 2.12 5.75 0.762 9222 0.000 0.024 2720 2297 1840 1813 1868 0 0 0 0 0 0 28.83 26.14 25.21

5643 1.44 205.2 2720 2297 1813 1867 294.0 8.9 313 5662 0.00 0.00 11.73 0.800 8198 0.000 0.000 2720 2297 1799 1770 1828 0 0 0 0 0 0 28.83 28.83 25.41

5963 1.45 209.0 2720 2297 1769 1821 265.0 9.1 329 5968 0.00 2.17 0.00 0.000 516 0.000 0.042 2732 898 1795 1768 1822 0 0 0 0 0 0 28.83 26.33 28.83

5998 1.45 211.0 2731 898 1768 1822 262.8 9.2 330 6011 0.00 2.08 4.55 0.692 9222 0.000 0.017 2732 2304 1778 1748 1808 0 0 0 0 0 0 28.83 26.44 25.33

6310 1.47 218.7 2731 2304 1748 1808 233.8 9.0 346 6326 0.00 2.12 10.07 0.754 8452 0.000 0.033 2731 3695 1744 1712 1776 0 0 0 0 0 0 28.83 26.29 25.58

6433 1.49 225.0 2731 3695 1712 1772 223.9 9.0 351 6447 0.00 2.12 6.25 0.737 9222 0.000 0.025 2741 2299 1721 1689 1754 0 0 0 0 0 0 28.83 26.36 25.49

6768 1.49 225.5 2741 2299 1688 1748 192.9 9.2 368 6769 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2299 1718 1688 1748 0 0 0 0 0 0 28.83 28.83 28.83

7067 1.51 231.5 2741 2299 1688 1747 165.9 9.0 383 7080 0.00 2.22 7.32 0.696 8452 0.000 0.033 2741 3691 1692 1658 1726 0 0 0 0 0 0 28.83 26.39 25.67

7156 1.52 238.6 2741 3691 1656 1724 157.6 9.0 387 7169 0.00 2.12 7.68 0.690 9222 0.000 0.025 2751 2292 1666 1630 1703 0 0 0 0 0 0 28.83 26.43 25.63

7484 1.56 252.3 2751 2292 1613 1701 128.9 8.8 403 7507 0.00 2.25 13.40 0.653 8708 0.000 0.044 2762 894 1606 1557 1656 0 0 0 0 0 0 28.83 26.25 25.63

7532 1.60 267.3 2762 894 1556 1654 124.6 8.7 405 7555 0.00 2.10 15.32 0.643 9222 0.000 0.018 2762 2307 1545 1493 1598 0 0 0 0 0 0 28.83 26.34 25.50

7851 1.61 272.5 2762 2307 1492 1591 95.9 9.1 421 7862 0.00 2.25 3.88 0.529 8708 0.000 0.041 2772 898 1528 1477 1580 0 0 0 0 0 0 28.83 26.29 25.38

7959 1.63 281.4 2772 898 1477 1581 86.1 8.9 426 7976 0.00 2.10 11.38 0.610 9222 0.000 0.017 2772 2308 1491 1438 1544 0 0 0 0 0 0 28.83 26.41 25.59

8286 1.65 287.1 2771 2309 1435 1535 56.5 9.0 442 8297 0.00 2.12 4.60 0.549 8452 0.000 0.034 2772 3693 1468 1417 1519 0 0 0 0 0 0 28.83 26.35 25.47

8355 1.66 293.7 2772 3693 1417 1519 50.2 9.0 445 8371 0.00 2.12 9.18 0.575 9222 0.000 0.026 2781 2300 1438 1389 1488 0 0 0 0 0 0 28.83 26.39 25.65

8678 1.68 300.9 1744 2297 1363 1474 20.7 9.0 479 8693 0.00 2.20 7.38 0.545 8708 0.000 0.041 2792 884 1409 1365 1453 0 0 0 0 0 0 28.83 26.32 25.71

8758 1.72 317.6 1792 883 1341 1446 13.4 8.6 492 8782 0.00 2.10 16.55 0.521 9222 0.000 0.018 2792 2305 1340 1305 1375 0 0 0 0 0 0 28.83 26.44 25.63

8877 end climb: SURFACE_DEPTH_REACHED

state 8877 begin surface coast

8912 end surface coast: CONTROL_FINISHED_OK

state 8912 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	183	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	39	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	57	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	-100724.79	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	240313,083125,2022.438,12003.758,33,1.7,33,-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	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240313,083837,2022.380,12003.688,16,0.7,17,-2.7	MHEAD_RNG_PITCHd_Wd	8.3,153144,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3470

FINISH	0.0,1.023759	_10V_AH	10.1,16.996
SM_CCo	9120,0.03,0.291,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.60,0.55,0.03,0.072,0.035,0.291,88,1949,401,-10.53,0.79,549.47,0,0,0,0,0,0,26.32,26.35,25.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2015.67,12003.80,240313,050525	MEM	323904
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16753,518
HUMID	47.99	CAP_FILE_SIZE	411387,2028
INTERNAL_PRESSURE	9.1948	CFSIZE	260034560,229978112
TCM_TEMP	20.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	1	CURRENT	0.206,286.8,1
SC_FREEKB	3952896	GPS	240313,111222,2023.590,12002.607,37,0.9,37,-2.7
_24V_AH	24.3,31.081

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	211	88.70	nil	0	0	0.00
Roll_motor	64	53	84.22	nil	0	0	0.00
VBD_pump_during_apogee	444	892	9648.38	nil	0	0	0.00
VBD_pump_during_surface	179	684	2990.19	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	8931	5	1186.03
Iridium_during_xfer	250	133	810.83	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.45
TT8	1997	14	291.74
LPSleep	4855	2	107.39
TT8_Active	726	14	106.14
TT8_Sampling	1592	39	630.18
TT8_CF8	360	46	169.75
TT8_Kalman	0	0	0.00
Analog_circuits	1787	15	279.84
GPS_charging	0	0	0.00
Compass	1326	7	100.36
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	15	begin dive
18	-1.35	-170.3	87	1951	331	471	0.0	0.0	0	43	0.00	0.00	-23.42	0.000	16386	0.000	0.000	86	1951	1008	999	1018	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	87	1951	999	1020	3.2	-8.6	3	162	7.85	2.20	-95.30	0.000	18948	0.212	0.054	2112	570	3338	3247	3429	0	0	0	0	0	0	25.82	26.18	26.48
218	-1.35	-170.3	1248	569	3221	3425	19.3	-8.8	28	226	0.00	2.08	0.00	0.000	1030	0.000	0.015	2104	1994	3338	3249	3428	0	0	0	0	0	0	28.83	26.30	28.83
532	-1.35	-170.3	2105	1996	3252	3428	47.8	-9.0	64	538	0.00	2.05	0.00	0.000	260	0.000	0.031	2094	3366	3340	3252	3428	0	0	0	0	0	0	28.83	26.42	28.83
667	-1.35	-170.3	2093	3366	3253	3428	59.5	-9.0	71	673	0.00	2.10	0.00	0.000	1030	0.000	0.024	2101	1956	3341	3253	3429	0	0	0	0	0	0	28.83	26.49	28.83
988	-1.35	-170.3	2101	1956	3256	3428	88.5	-8.7	87	993	0.00	2.08	0.00	0.000	516	0.000	0.039	2111	575	3342	3256	3429	0	0	0	0	0	0	28.83	26.53	28.83
1078	-1.35	-170.3	2111	575	3258	3428	96.5	-9.2	91	1083	0.00	2.00	0.00	0.000	1030	0.000	0.015	2103	1981	3343	3258	3429	0	0	0	0	0	0	28.83	26.62	28.83
1398	-1.35	-170.3	2103	1983	3257	3429	125.7	-9.0	107	1399	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	1981	3343	3258	3429	0	0	0	0	0	0	28.83	28.83	28.83
1698	-1.35	-170.3	2103	1982	3257	3429	152.7	-9.0	122	1699	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	1982	3342	3257	3428	0	0	0	0	0	0	28.83	28.83	28.83
1998	-1.35	-170.3	2103	1982	3257	3426	180.4	-9.0	137	2004	0.00	2.15	0.00	0.000	516	0.000	0.038	2110	574	3341	3257	3426	0	0	0	0	0	0	28.83	26.62	28.83
2086	-1.35	-170.3	2110	574	3257	3426	188.5	-9.1	141	2092	0.00	2.00	0.00	0.000	1030	0.000	0.015	2102	1979	3341	3257	3426	0	0	0	0	0	0	28.83	26.70	28.83
2410	-1.35	-170.3	2102	1980	3257	3422	217.8	-9.4	157	2412	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	1980	3339	3257	3422	0	0	0	0	0	0	28.83	28.83	28.83
2712	-1.35	-170.3	2102	1980	3257	3418	244.6	-8.9	172	2718	0.00	2.03	0.00	0.000	260	0.000	0.031	2092	3350	3337	3257	3417	0	0	0	0	0	0	28.83	26.65	28.83
2761	-1.35	-170.3	2092	3351	3256	3417	249.0	-9.0	174	2767	0.00	2.05	0.00	0.000	1030	0.000	0.026	2092	1979	3338	3259	3417	0	0	0	0	0	0	28.83	26.66	28.83
3087	-1.35	-170.3	2093	1979	3253	3414	278.9	-9.3	190	3088	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	1978	3333	3253	3414	0	0	0	0	0	0	28.83	28.83	28.83
3387	-1.35	-170.3	2092	1978	3252	3411	305.7	-9.2	205	3393	0.00	2.15	0.00	0.000	516	0.000	0.043	2100	571	3331	3252	3410	0	0	0	0	0	0	28.83	26.63	28.83
3537	-1.35	-170.3	2100	571	3252	3410	319.2	-9.2	212	3543	0.00	2.03	0.00	0.000	1030	0.000	0.016	2092	1970	3330	3251	3410	0	0	0	0	0	0	28.83	26.72	28.83
3864	-1.35	-170.3	2092	1971	3248	3407	349.4	-9.1	228	3865	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	1971	3327	3248	3407	0	0	0	0	0	0	28.83	28.83	28.83
4164	-1.35	-170.3	2092	1971	3246	3405	376.1	-9.1	243	4165	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	1971	3325	3246	3405	0	0	0	0	0	0	28.83	28.83	28.83
4441	end dive: TARGET_DEPTH_EXCEEDED
state	4442	begin apogee
4446	-0.25	0.0	2089	2310	3243	3402	401.5	-8.8	257	4598	0.77	0.00	146.00	0.893	10246	0.116	0.000	2343	2310	2637	2588	2686	0	0	0	0	0	0	26.45	28.83	24.51
4601	end apogee: CONTROL_FINISHED_OK
state	4601	begin climb
4603	1.35	170.3	2343	2309	2583	2681	388.8	0.0	263	4762	1.00	2.28	149.93	0.881	10500	0.058	0.033	2701	3679	1938	1904	1972	0	0	0	0	0	0	25.27	25.01	24.34
4935	1.36	171.9	2701	3679	1900	1950	357.4	9.2	278	4941	0.00	2.12	0.00	0.000	1030	0.000	0.024	2711	2307	1925	1900	1950	0	0	0	0	0	0	28.83	25.89	28.83
5250	1.39	187.0	2711	2307	1900	1946	328.6	8.7	294	5273	0.00	2.20	13.80	0.826	8452	0.000	0.032	2711	3681	1868	1843	1893	0	0	0	0	0	0	28.83	26.05	25.30
5323	1.42	196.0	2711	3682	1841	1889	322.6	8.9	297	5334	0.00	2.12	5.75	0.762	9222	0.000	0.024	2720	2297	1840	1813	1868	0	0	0	0	0	0	28.83	26.14	25.21
5643	1.44	205.2	2720	2297	1813	1867	294.0	8.9	313	5662	0.00	0.00	11.73	0.800	8198	0.000	0.000	2720	2297	1799	1770	1828	0	0	0	0	0	0	28.83	28.83	25.41
5963	1.45	209.0	2720	2297	1769	1821	265.0	9.1	329	5968	0.00	2.17	0.00	0.000	516	0.000	0.042	2732	898	1795	1768	1822	0	0	0	0	0	0	28.83	26.33	28.83
5998	1.45	211.0	2731	898	1768	1822	262.8	9.2	330	6011	0.00	2.08	4.55	0.692	9222	0.000	0.017	2732	2304	1778	1748	1808	0	0	0	0	0	0	28.83	26.44	25.33
6310	1.47	218.7	2731	2304	1748	1808	233.8	9.0	346	6326	0.00	2.12	10.07	0.754	8452	0.000	0.033	2731	3695	1744	1712	1776	0	0	0	0	0	0	28.83	26.29	25.58
6433	1.49	225.0	2731	3695	1712	1772	223.9	9.0	351	6447	0.00	2.12	6.25	0.737	9222	0.000	0.025	2741	2299	1721	1689	1754	0	0	0	0	0	0	28.83	26.36	25.49
6768	1.49	225.5	2741	2299	1688	1748	192.9	9.2	368	6769	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2299	1718	1688	1748	0	0	0	0	0	0	28.83	28.83	28.83
7067	1.51	231.5	2741	2299	1688	1747	165.9	9.0	383	7080	0.00	2.22	7.32	0.696	8452	0.000	0.033	2741	3691	1692	1658	1726	0	0	0	0	0	0	28.83	26.39	25.67
7156	1.52	238.6	2741	3691	1656	1724	157.6	9.0	387	7169	0.00	2.12	7.68	0.690	9222	0.000	0.025	2751	2292	1666	1630	1703	0	0	0	0	0	0	28.83	26.43	25.63
7484	1.56	252.3	2751	2292	1613	1701	128.9	8.8	403	7507	0.00	2.25	13.40	0.653	8708	0.000	0.044	2762	894	1606	1557	1656	0	0	0	0	0	0	28.83	26.25	25.63
7532	1.60	267.3	2762	894	1556	1654	124.6	8.7	405	7555	0.00	2.10	15.32	0.643	9222	0.000	0.018	2762	2307	1545	1493	1598	0	0	0	0	0	0	28.83	26.34	25.50
7851	1.61	272.5	2762	2307	1492	1591	95.9	9.1	421	7862	0.00	2.25	3.88	0.529	8708	0.000	0.041	2772	898	1528	1477	1580	0	0	0	0	0	0	28.83	26.29	25.38
7959	1.63	281.4	2772	898	1477	1581	86.1	8.9	426	7976	0.00	2.10	11.38	0.610	9222	0.000	0.017	2772	2308	1491	1438	1544	0	0	0	0	0	0	28.83	26.41	25.59
8286	1.65	287.1	2771	2309	1435	1535	56.5	9.0	442	8297	0.00	2.12	4.60	0.549	8452	0.000	0.034	2772	3693	1468	1417	1519	0	0	0	0	0	0	28.83	26.35	25.47
8355	1.66	293.7	2772	3693	1417	1519	50.2	9.0	445	8371	0.00	2.12	9.18	0.575	9222	0.000	0.026	2781	2300	1438	1389	1488	0	0	0	0	0	0	28.83	26.39	25.65
8678	1.68	300.9	1744	2297	1363	1474	20.7	9.0	479	8693	0.00	2.20	7.38	0.545	8708	0.000	0.041	2792	884	1409	1365	1453	0	0	0	0	0	0	28.83	26.32	25.71
8758	1.72	317.6	1792	883	1341	1446	13.4	8.6	492	8782	0.00	2.10	16.55	0.521	9222	0.000	0.018	2792	2305	1340	1305	1375	0	0	0	0	0	0	28.83	26.44	25.63
8877	end climb: SURFACE_DEPTH_REACHED
state	8877	begin surface coast
8912	end surface coast: CONTROL_FINISHED_OK
state	8912	begin surface